Gap Adjust Cruise: Handle distance bar on cluster for Hyundai CAN-FD (c…

…ommaai#266)
opgm · Sep 14, 2023 · 0b09c64 · 0b09c64
1 parent 1958fa9
commit 0b09c64
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
@@ -216,7 +216,7 @@ def update(self, CC, CS, now_nanos):
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units))
+                                                           set_speed_in_units, CS.gac_tr_cluster))
           self.accel_last = accel
       else:
         # button presses

diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, gac_tr_cluster):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -146,7 +146,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
     "SET_ME_2": 0x4,
     "SET_ME_3": 0x3,
     "SET_ME_TMP_64": 0x64,
-    "DISTANCE_SETTING": 4,
+    "DISTANCE_SETTING": gac_tr_cluster,
   }
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)