Optima LKAS11 signals

Maelstrom96 · Oct 25, 2019 · e0bba9c · e0bba9c
1 parent c29c6cd
commit e0bba9c
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
@@ -37,7 +37,11 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
     values["CF_Lkas_HbaOpt"] = lkas11["CF_Lkas_HbaOpt"] if keep_stock else 1
     values["CF_Lkas_FcwOpt_USM"] = lkas11["CF_Lkas_FcwOpt_USM"] if keep_stock else 2
     values["CF_Lkas_LdwsOpt_USM"] = lkas11["CF_Lkas_LdwsOpt_USM"] if keep_stock else 0
-
+  if car_fingerprint == CAR.KIA_OPTIMA:
+    values["CF_Lkas_Bca_R"] = 0
+    values["CF_Lkas_HbaOpt"] = lkas11["CF_Lkas_HbaOpt"] if keep_stock else 1
+    values["CF_Lkas_FcwOpt_USM"] = lkas11["CF_Lkas_FcwOpt_USM"] if keep_stock else 0
+
   dat = packer.make_can_msg("LKAS11", 0, values)[2]
 
   if car_fingerprint in CHECKSUM["crc8"]: