From f404c0bdf8a798a4e0b6df62c0a66e374b748510 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 12 Oct 2020 23:02:50 -0400 Subject: [PATCH] Fix reference to steering-angle-rate directional signal --- selfdrive/car/volkswagen/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index ca33bf431..64040435c 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -32,7 +32,7 @@ class CarState(CarStateBase): # Update steering angle, rate, yaw rate, and driver input torque. VW send # the sign/direction in a separate signal so they must be recombined. ret.steeringAngle = pt_cp.vl["LWI_01"]['LWI_Lenkradwinkel'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])] - ret.steeringRate = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])] + ret.steeringRate = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradw_Geschw'])] ret.steeringTorque = pt_cp.vl["LH_EPS_03"]['EPS_Lenkmoment'] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]['EPS_VZ_Lenkmoment'])] * 100 ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE ret.yawRate = pt_cp.vl["ESP_02"]['ESP_Gierrate'] * (1, -1)[int(pt_cp.vl["ESP_02"]['ESP_VZ_Gierrate'])] * CV.DEG_TO_RAD