fix

3 years ago · 3c41cbb898
parent dc6c1f7a55
commit 3c41cbb898
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -39,7 +39,7 @@ class CarState(CarStateBase):
      pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
      pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
      pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
-      unit=CV.KPH_TO_MS * (-1 if pt_cp.vl["MovingBackward"]["RLWheelSpd"] else 1),
+      unit=CV.KPH_TO_MS * (-1 if pt_cp.vl["EBCMWheelSpdFront"]["MovingBackward"] else 1),
    )
    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)