Set enableBsm flag for Tesla 3Y

carleeno · Aug 8, 2024 · cac69fa · cac69fa
1 parent 86220b4
commit cac69fa
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
@@ -86,8 +86,9 @@ def update(self, cp, cp_cam, cp_adas):
     ret.seatbeltUnlatched = cp.vl["UI_warning"]["buckleStatus"] != 1
 
     # Blindspot
-    ret.leftBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearLeft"] != 0
-    ret.rightBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearRight"] != 0
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearLeft"] != 0
+      ret.rightBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearRight"] != 0
 
     # AEB
     ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)

diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
@@ -31,6 +31,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       flags |= Panda.FLAG_TESLA_LONG_CONTROL
       ret.openpilotLongitudinalControl = True
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
+      ret.enableBsm = True
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25