Set moving backward only if not moving forward

pull/31257/head
Eric Brown 2 years ago
parent 809d240e8b
commit 0640894870
  1. 2
      selfdrive/car/gm/carstate.py

@ -33,7 +33,7 @@ class CarState(CarStateBase):
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0) and not (pt_cp.vl["EBCMWheelSpdRear"]["MovingForward"] != 0)
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0

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