Detect cruise on cam bus

commaai · Nov 23, 2024 · 61c7076 · 61c7076
1 parent e0e61cc
commit 61c7076
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -178,7 +178,7 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
     pcm_cruise_check(cruise_engaged);
 
   // LKAS Angle cars use different message
-  } else if (subaru_lkas_angle && (addr == MSG_SUBARU_ES_DashStatus) && (bus == alt_main_bus)) {
+  } else if (subaru_lkas_angle && (addr == MSG_SUBARU_ES_DashStatus) && (bus == SUBARU_CAM_BUS)) {
     bool cruise_engaged = GET_BIT(to_push, 36U);
     pcm_cruise_check(cruise_engaged);
   }

diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
@@ -189,7 +189,7 @@ def _angle_meas_msg(self, angle):
   # need to use ES_DashStatus Message
   def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}
-    return self.packer.make_can_msg_panda("ES_DashStatus", self.ALT_MAIN_BUS, values)
+    return self.packer.make_can_msg_panda("ES_DashStatus", self.ALT_CAM_BUS, values)
 
 
 class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):