diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 45502dac58def1..54421cf285faea 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -177,6 +177,7 @@ def __init__(self, CP): self.cruise_mode = 0 def update(self, cp, cp_body): #Clarity: cp_cam is the CAN parser for the Factory Camera CAN. Since we've disconnected the factory camera, this is not needed. -wirelessnet2 + ret = car.CarState.new_message() # car params diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 43c43372939fdb..e60d2fb9c5fa6d 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -440,6 +440,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, def update(self, c, can_strings): # ******************* do can recv ******************* self.cp.update_strings(can_strings) + #self.cp_cam.update_strings(can_strings) #Clarity: cp_cam is the CAN parser for the Factory Camera CAN. Since we've disconnected the factory camera, this is not needed. -wirelessnet2 if self.cp_body: self.cp_body.update_strings(can_strings) @@ -447,6 +448,7 @@ def update(self, c, can_strings): ret = self.CS.update(self.cp, self.cp_body) #Clarity: cp_cam is the CAN parser for the Factory Camera CAN. Since we've disconnected the factory camera, this is not needed. -wirelessnet2 ret.canValid = self.cp.can_valid and (self.cp_body is None or self.cp_body.can_valid) #Clarity: cp_cam is the CAN parser for the Factory Camera CAN. Since we've disconnected the factory camera, this is not needed. -wirelessnet2 + ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo) # FIXME: read sendcan for brakelights brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1