From 04a0a5e47428495b74886ce529fc61dc0e9e9179 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 27 Jul 2022 16:18:48 +0200 Subject: [PATCH] always use CF_Clu_VehicleSpeed2 --- selfdrive/car/hyundai/carstate.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 865ad2b59b..cbfd2cc845 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -39,6 +39,7 @@ class CarState(CarStateBase): return self.update_canfd(cp, cp_cam) metric = not cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] + speed_conv = CV.KPH_TO_MS if metric else CV.MPH_TO_MS ret = car.CarState.new_message() @@ -56,7 +57,8 @@ class CarState(CarStateBase): cp.vl["WHL_SPD11"]["WHL_SPD_RR"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. - ret.vEgoCluster = (cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS) if metric else (cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"] * CV.MPH_TO_MS) + # ret.vEgoCluster = (cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS) if metric else (cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"] * CV.MPH_TO_MS) + ret.vEgoCluster = cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"] * speed_conv ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgoRaw < 0.1 @@ -81,7 +83,6 @@ class CarState(CarStateBase): ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. - speed_conv = CV.KPH_TO_MS if metric else CV.MPH_TO_MS ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv # TODO: Find brake pressure