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Merge branch 'enable-bsm-flag' into tesla-port-dev
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carleeno committed Aug 8, 2024
2 parents 534de90 + cac69fa commit 0fc9e11
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Showing 2 changed files with 4 additions and 2 deletions.
5 changes: 3 additions & 2 deletions selfdrive/car/tesla/carstate.py
Original file line number Diff line number Diff line change
Expand Up @@ -96,8 +96,9 @@ def update(self, cp, cp_cam, cp_adas):
ret.seatbeltUnlatched = cp.vl["UI_warning"]["buckleStatus"] != 1

# Blindspot
ret.leftBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearLeft"] != 0
ret.rightBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearRight"] != 0
if self.CP.enableBsm:
ret.leftBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearLeft"] != 0
ret.rightBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearRight"] != 0

# AEB
ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
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1 change: 1 addition & 0 deletions selfdrive/car/tesla/interface.py
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
flags |= Panda.FLAG_TESLA_LONG_CONTROL
ret.openpilotLongitudinalControl = not stock_acc
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
ret.enableBsm = True

ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25
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