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Base Package #5

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Base Package #5

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102c309
Base Package
wirelessnet2 Jul 20, 2020
96b278a
Merge branch 'Clarity_0.7.8' into master
zer0onetwothree Sep 11, 2020
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1 change: 1 addition & 0 deletions selfdrive/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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2 changes: 2 additions & 0 deletions selfdrive/car/honda/interface.py
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Expand Up @@ -440,13 +440,15 @@ 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)

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
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