log non-noEntry acc faults

commaai · May 30, 2023 · b70ed6b · b70ed6b
1 parent 90e0c61
commit b70ed6b
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
@@ -196,8 +196,10 @@ def update(self, cp, cp_cam, cp_body):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
-    elif self.CP.openpilotLongitudinalControl:
-      self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
+    else:
+      if self.CP.openpilotLongitudinalControl:
+        self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
+      ret.accFaultedNotCritical = cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"]
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -332,12 +334,15 @@ def get_cam_can_parser(CP):
                   ("AEB_REQ_1", "BRAKE_COMMAND"),
                   ("FCW", "BRAKE_COMMAND"),
                   ("CHIME", "BRAKE_COMMAND"),
+                  ("LKAS_PROBLEM", "LKAS_HUD"),
                   ("FCM_OFF", "ACC_HUD"),
                   ("FCM_OFF_2", "ACC_HUD"),
                   ("FCM_PROBLEM", "ACC_HUD"),
+                  ("ACC_PROBLEM", "ACC_HUD"),
                   ("ICONS", "ACC_HUD")]
       checks += [
         ("ACC_HUD", 10),
+        ("LKAS_HUD", 10),
         ("BRAKE_COMMAND", 50),
       ]