setup steerFaultTemp

dkiiv · Jul 22, 2024 · 40a1d39 · 40a1d39
1 parent 30bf3fc
commit 40a1d39
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -39,7 +39,7 @@ def update(self, CC, CS, ext_bus, now_nanos, frogpilot_variables):
       #  8 = standby
       #  6 = active
       #  4 = activatable, entry request signal
-      if CC.latActive and not CS.PLA_driverCancel:
+      if CC.latActive:
         self.PLA_status = 6 if self.PLA_entryCounter >= 11 else 4
         self.PLA_entryCounter += 1 if self.PLA_entryCounter <= 11 else self.PLA_entryCounter
       else:

diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
@@ -17,7 +17,6 @@ def __init__(self, CP):
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
     self.eps_stock_values = False
-    self.PLA_driverCancel = False
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -181,8 +180,7 @@ def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
     ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
     ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
     hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
-    self.PLA_driverCancel = True if pt_cp.vl["Lenkhilfe_2"]["LH2_PLA_Abbr"] == 2 else False
-    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
+    ret.steerFaultTemporary = True if pt_cp.vl["Lenkhilfe_2"]["LH2_PLA_Abbr"] == 2 else False
 
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0