From 2f2205ebe7cd2150bac67c540f65a051b1cdbe03 Mon Sep 17 00:00:00 2001 From: Your Name Date: Mon, 20 May 2024 22:40:46 -0500 Subject: [PATCH] wip --- panda/board/main.c | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/panda/board/main.c b/panda/board/main.c index 00429e3..1e3e2d2 100755 --- a/panda/board/main.c +++ b/panda/board/main.c @@ -238,8 +238,13 @@ void tick_handler(void) { // clear heartbeat engaged state heartbeat_engaged = false; - if (current_safety_mode != SAFETY_SILENT) { - set_safety_mode(SAFETY_SILENT, 0U); + // if (current_safety_mode != SAFETY_SILENT) { + // set_safety_mode(SAFETY_SILENT, 0U); + // } + + // clearpilot + if (current_safety_mode != SAFETY_ALLOUTPUT) { + set_safety_mode(SAFETY_ALLOUTPUT, 0U); } if (power_save_status != POWER_SAVE_STATUS_ENABLED) { @@ -335,7 +340,9 @@ int main(void) { microsecond_timer_init(); // init to SILENT and can silent - set_safety_mode(SAFETY_SILENT, 0U); + //clearpilot + // set_safety_mode(SAFETY_SILENT, 0U); + set_safety_mode(SAFETY_ALLOUTPUT, 0U); // enable CAN TXs current_board->enable_can_transceivers(true);