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Honda Civic 2022: remove LKAS fault reinitialization #24979

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Merged
sshane merged 2 commits into from
Jun 30, 2022
Merged

Honda Civic 2022: remove LKAS fault reinitialization #24979

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b26ce34
no lkas problem
sshane Jun 27, 2022
1cb9764
remove frame
sshane Jun 27, 2022
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2 changes: 1 addition & 1 deletion selfdrive/car/honda/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -241,7 +241,7 @@ def update(self, CC, CS):
idx = (self.frame // 10) % 4
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame))
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))

if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed
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4 changes: 1 addition & 3 deletions selfdrive/car/honda/hondacan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)


def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame):
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
Expand Down Expand Up @@ -141,8 +141,6 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
lkas_hud_values['LANE_LINES'] = 3
lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
# TODO: understand this better, does car need to see it fall after start up?
lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1

if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
lkas_hud_values['SET_ME_X48'] = 0x48
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