From 33e6158d9ba488a21c5210438170656f72c53c96 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sat, 10 Feb 2024 20:47:06 -0500 Subject: [PATCH] Subaru: add message for angle LKAS (#31402) add angle --- selfdrive/car/subaru/subarucan.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 290737c3e6..86d39ff885 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -13,6 +13,15 @@ def create_steering_control(packer, apply_steer, steer_req): return packer.make_can_msg("ES_LKAS", 0, values) +def create_steering_control_angle(packer, apply_steer, steer_req): + values = { + "LKAS_Output": apply_steer, + "LKAS_Request": steer_req, + "SET_3": 3 + } + return packer.make_can_msg("ES_LKAS_ANGLE", 0, values) + + def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {})