From 35f6a6d632bf9d895bd92a857fa2c2744e7a83d6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 14:46:21 -0700 Subject: [PATCH] Chrysler: increase steering angle resolution (#25278) old-commit-hash: 49bd53549d3e4ee16d9fcfc9f7a3fa27957d8ddb --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 5 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 4195e8f4c9..67cf76f252 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e +Subproject commit 67cf76f2524209ea19f6f867cb4671c88a3347ac diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 47b28f9e05..fefd351a23 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -63,7 +63,7 @@ class CarState(CarStateBase): ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1 # steering wheel - ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] + ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"] ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] @@ -126,7 +126,8 @@ class CarState(CarStateBase): ("WHEEL_SPEED_RR", "ESP_6"), ("WHEEL_SPEED_RL", "ESP_6"), ("WHEEL_SPEED_FR", "ESP_6"), - ("STEER_ANGLE", "STEERING"), + ("STEERING_ANGLE", "STEERING"), + ("STEERING_ANGLE_HP", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0c1fa408e7..0d05747644 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dfacf4d807e04b855832218803b5c025d06569b8 \ No newline at end of file +ee36966d20fa63ed4b9488bbc75d61e95e464cb7 \ No newline at end of file