From 8d6ff49daa85b53b337737f0abcf4c326dde20b6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 19:44:53 -0700 Subject: [PATCH] Nissan: match panda standstill (#26301) * move to openpilot * draft * support internal urls * not used * update seg list * regen segment list * regen seg list * fix * check both rear wheels * revert chganges * bump panda * bump padna old-commit-hash: 3160493c85cb132abf5acb5e4e22fc4a7c108ef1 --- panda | 2 +- selfdrive/car/nissan/carstate.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 187fdee38..997e32807 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 187fdee385e59a2a19f85760f529e8e381845dff +Subproject commit 997e328074e4b356c514e8d5e6570f151465d9e8 diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index a5ca23711..d6b6d17d5 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -44,7 +44,7 @@ class CarState(CarStateBase): ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.01 + ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0 if self.CP.carFingerprint == CAR.ALTIMA: ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])