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Use vehicle navi availability for CAN-FD nav icon #512

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Use vehicle navi availability for CAN-FD nav icon #512

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4 changes: 3 additions & 1 deletion opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -783,6 +783,8 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
cruise_enabled = CC.enabled
lat_enabled = CS.out.latEnabled
nav_active = hud_control.activeCarrot > 1
vehicle_navi_available = CS.out.vehicleNaviAvailable
nav_icon_available = nav_active or vehicle_navi_available

# hdpuse carrot
hdp_use = int(Params().get("HDPuse"))
Expand Down Expand Up @@ -813,7 +815,7 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
values["CENTERLINE"] = 1 if HDA_CntrlModSta > 0 else 0
values["CAR_CIRCLE"] = 2 if hdp_active else 1 if cruise_enabled else 0

values["NAV_ICON"] = 2 if nav_active and cruise_enabled else 1 if main_enabled and nav_active else 0
values["NAV_ICON"] = 2 if nav_icon_available and cruise_enabled else 1 if main_enabled and nav_icon_available else 0
values["HDA_ICON"] = 5 if hdp_active else 2 if cruise_enabled else 1 if main_enabled else 0
values["LFA_ICON"] = 5 if hdp_active else 2 if lat_active else 1 if lat_enabled else 0
values["LKA_ICON"] = 4 if lat_active else 3 if lat_enabled else 0
Expand Down