fixing bodyControls pass through info

BogGyver · Apr 21, 2021 · 0ac9efa · 0ac9efa
1 parent b90961d
commit 0ac9efa
Show file tree

Hide file tree

Showing 3 changed files with 7 additions and 1 deletion.
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
@@ -311,7 +311,8 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert, audibl
           CAN_CHASSIS[self.CP.carFingerprint], 1))
 
       # send DAS_bodyControls
-      can_sends.append(self.tesla_can.create_body_controls_message(CS.msg_das_body_controls,
+      if self.IC_integration_counter in [20,70]:
+        can_sends.append(self.tesla_can.create_body_controls_message(CS.msg_das_body_controls,
           CS.alca_direction, 1 if CS.needs_hazard else 0 , CAN_CHASSIS[self.CP.carFingerprint], 1))
 
       # send DAS_warningMatrix0 at 1Hz

diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
@@ -248,13 +248,16 @@ def update(self, cp, cp_cam):
     sw_a = copy.copy(cp.vl["STW_ACTN_RQ"])
     if sw_a is not None:
       self.msg_stw_actn_req = sw_a
+
     if (self.CP.carFingerprint != CAR.PREAP_MODELS):
       ap_s = copy.copy(cp_cam.vl["DAS_status"])
       if ap_s is not None:
         self.msg_autopilot_status = ap_s
+
       bc = copy.copy(cp_cam.vl["DAS_bodyControls"])
       if bc is not None:
         self.msg_das_body_controls = bc
+
       ap_s2 = copy.copy(cp_cam.vl["DAS_status2"])
       if ap_s2 is not None:
         self.msg_autopilot_status2 = ap_s2

diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
@@ -57,6 +57,8 @@ def create_lead_car_object_message(self, objectId, vType1,vId1,relevant1,dx1,vxr
   def create_body_controls_message(self,msg_das_body_controls,turn,hazard,bus,counter):
     if msg_das_body_controls is not None:
       values = copy.copy(msg_das_body_controls)
+      values["DAS_bodyControlsCounter"] = counter
+      values["DAS_bodyControlsChecksum"] = 0
     else:
       values = {
       "DAS_headlightRequest" : 0,