diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 1d71abd060..7cc881003f 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -422,7 +422,7 @@ def _scale01(x, lo, hi):
if self.CP.carFingerprint in CAN_GEARS["send_mdps12"] and CS.mdps12 is not None: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(hyundaican.create_mdps12(self.packer, self.frame, CS.mdps12))
- casper_opt = self.CP.carFingerprint in (CAR.HYUNDAI_CASPER_EV)
+ casper_ev = self.CP.carFingerprint == CAR.HYUNDAI_CASPER_EV
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
self.hyundai_jerk.make_jerk(self.CP, CS, accel, actuators, hud_control)
self.hyundai_jerk.check_carrot_cruise(CC, CS, hud_control, stopping, accel, actuators.aTarget)
@@ -432,7 +432,7 @@ def _scale01(x, lo, hi):
can_sends.extend(hyundaican.create_acc_commands_scc(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
- CC.cruiseControl.override, casper_opt, CS, self.soft_hold_mode))
+ CC.cruiseControl.override, casper_ev, CS, self.soft_hold_mode))
else:
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
@@ -447,7 +447,7 @@ def _scale01(x, lo, hi):
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
if camera_scc:
if CS.scc13 is not None:
- if casper_opt:
+ if casper_ev:
#can_sends.append(hyundaican.create_acc_opt_copy(CS, self.packer))
pass
pass
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 4f8c82ee4f..8a5fffe04f 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -397,6 +397,11 @@ def update(self, can_parsers) -> structs.CarState:
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
+ if self.CP.carFingerprint == CAR.HYUNDAI_CASPER_EV and aeb_src == "FCA11":
+ fca_fault = cp_cruise.vl["FCA11"]["FCA_Failinfo"] != 0 or cp_cruise.vl["FCA11"]["FCA_Status"] == 3
+ if fca_fault:
+ aeb_warning = False
+ aeb_braking = False
ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
ret.stockAeb = aeb_warning and aeb_braking
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaican.py b/opendbc_repo/opendbc/car/hyundai/hyundaican.py
index d0c3f7f8f4..9d29da17d8 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaican.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaican.py
@@ -4,6 +4,25 @@
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
+def suppress_casper_ev_fca11_fault(values):
+ # CASPER EV can report transient FCA faults during camera-SCC handoff.
+ # Keep the copied FCA11 frame non-faulting without changing other cars.
+ fca_fault = values["FCA_Failinfo"] != 0 or values["FCA_Status"] == 3
+ values["FCA_Failinfo"] = 0
+
+ if fca_fault:
+ values["FCA_Status"] = 2
+ values["CF_VSM_Prefill"] = 0
+ values["CF_VSM_HBACmd"] = 0
+ values["CF_VSM_Warn"] = 0
+ values["CF_VSM_BeltCmd"] = 0
+ values["CR_VSM_DecCmd"] = 0
+ values["FCA_CmdAct"] = 0
+ values["FCA_StopReq"] = 0
+ values["CF_VSM_DecCmdAct"] = 0
+
+ return values
+
def create_lkas11(packer, frame, CP, apply_torque, steer_req,
torque_fault, lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane,
@@ -134,7 +153,7 @@ def create_lfahda_mfc(packer, CC, blinking_signal):
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
-def create_acc_commands_scc(packer, enabled, accel, jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CS, soft_hold_mode):
+def create_acc_commands_scc(packer, enabled, accel, jerk, idx, hud_control, set_speed, stopping, long_override, suppress_casper_ev_fca, CS, soft_hold_mode):
from opendbc.car.hyundai.carcontroller import HyundaiJerk
cruise_available = CS.out.cruiseState.available
if CS.paddle_button_prev > 0:
@@ -214,11 +233,8 @@ def create_acc_commands_scc(packer, enabled, accel, jerk, idx, hud_control, set_
values["ObjDistStat"] = objGap2
commands.append(packer.make_can_msg("SCC14", 0, values))
- if CS.fca11 is not None and use_fca: # CASPER_EV의 경우 FCA11에서 fail이 간헐적 발생함.. 그냥막자.. 원인불명..
- values = copy.copy(CS.fca11)
- if values["FCA_Failinfo"] != 0:
- values["FCA_Status"] = 2
- values["FCA_Failinfo"] = 0
+ if CS.fca11 is not None and suppress_casper_ev_fca: # CASPER_EV의 경우 FCA11에서 fail이 간헐적 발생함.. 그냥막자.. 원인불명..
+ values = suppress_casper_ev_fca11_fault(copy.copy(CS.fca11))
fca11_dat = packer.make_can_msg("FCA11", 0, values)[1]
values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
commands.append(packer.make_can_msg("FCA11", 0, values))
diff --git a/selfdrive/carrot/web/index.html b/selfdrive/carrot/web/index.html
index 30b5b9b69f..de44ece00d 100644
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -1,7 +1,8 @@
-
+
+
CarrotPilot
@@ -89,7 +90,7 @@
-
+