From 14480d8b74efd7d242e8724e6dbd7b211903eebe Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 9 Jun 2022 12:05:06 -0400 Subject: [PATCH] vEgo from Bremse_1 vehicle speed --- selfdrive/car/volkswagen/carstate.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 136492d76a..e5afa85c07 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -160,8 +160,8 @@ class CarState(CarStateBase): pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"], ) - # FIXME: Match current Panda/support NSF by getting vEgoRaw from ego speed signal - ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])) + # vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF + ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgo < 0.1 @@ -406,6 +406,7 @@ class CarState(CarStateBase): ("LH2_Sta_HCA", "Lenkhilfe_2"), # Steering rack HCA status ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"), # Absolute steering rate ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"), # Steering rate sign + ("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"), # Vehicle speed from ABS ("Radgeschw__VL_4_1", "Bremse_3"), # ABS wheel speed, front left ("Radgeschw__VR_4_1", "Bremse_3"), # ABS wheel speed, front right ("Radgeschw__HL_4_1", "Bremse_3"), # ABS wheel speed, rear left