Fix lane change detection when ALT_LAMPS are used.

This is needed for the Kia Caravan '25.
commaai · Dec 19, 2024 · 00f2641 · 00f2641
1 parent 8614cb8
commit 00f2641
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/opendbc/car/hyundai/carstate.py b/opendbc/car/hyundai/carstate.py
@@ -224,10 +224,11 @@ def update_canfd(self, can_parsers) -> structs.CarState:
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
 
-    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
-    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
-      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
+    left_blinker_sig, right_blinker_sig = (
+      ("LEFT_LAMP_ALT", "RIGHT_LAMP_ALT")
+      if cp.vl['BLINKERS']['USE_ALT_LAMP']
+      else ("LEFT_LAMP", "RIGHT_LAMP")
+    )
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])
     if self.CP.enableBsm: