Hyundai: radar interface fixups (commaai#303)

opgm · Sep 27, 2023 · 5dbecc7 · 5dbecc7
1 parent 67208ee
commit 5dbecc7
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
@@ -12,10 +12,11 @@
 def get_radar_can_parser(CP):
   if DBC[CP.carFingerprint]['radar'] is None:
     if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
-      messages = ("ESCC", 50)
-      return CANParser(DBC[CP.carFingerprint]['pt'], messages, 0)
+      lead_src, bus = "ESCC", 0
     else:
       return None
+    messages = [(lead_src, 50)]
+    return CANParser(DBC[CP.carFingerprint]['pt'], messages, bus)
 
   messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
   return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1)