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hyundai: increase number of resume messages sent at a time (#19634)

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* make hyundai resume reliable

* typo

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Greg Hogan
2021-01-05 21:10:21 -08:00
committed by GitHub
parent 235172bdb1
commit 97bfd91955
1 changed files with 2 additions and 1 deletions
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3
selfdrive/car/hyundai/carcontroller.py
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@@ -76,7 +76,8 @@ class CarController():
elif CS.out.cruiseState.standstill:
# send resume at a max freq of 10Hz
if (frame - self.last_resume_frame)*DT_CTRL > 0.1:
can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 20)
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
self.last_resume_frame = frame
# 20 Hz LFA MFA message