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commaai · Jun 13, 2024 · 1a083c2 · 1a083c2
1 parent 9f38196
commit 1a083c2
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
@@ -119,7 +119,9 @@ def update(self, cp, cp_cam):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
-    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 or cp.vl["TCS11"]["ABS_ACT"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    # TCS13|ACCEnable: 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    # TCS11|ABS_ACT: 1 ABS ACTIVE
+    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 or cp.vl["TCS11"]["ABS_ACT"] != 0
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       if self.CP.flags & HyundaiFlags.HYBRID: