From 3fb60c0b626d4c692527c149590e62a074d50772 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Tue, 12 May 2020 00:40:30 -0500 Subject: [PATCH] remove commented lines, update speed_kph to match panda Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/carstate.py | 4 +++- selfdrive/car/mazda/values.py | 16 ++-------------- 2 files changed, 5 insertions(+), 15 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 344b3456f9..ec912fa634 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -29,7 +29,9 @@ class CarState(CarStateBase): ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgoRaw < .1 - speed_kph = ret.vEgoRaw // CV.KPH_TO_MS + # Match panda speed reading + speed_kph = (cp.vl["WHEEL_SPEEDS"]['FL'] + cp.vl["WHEEL_SPEEDS"]['FR'] + + cp.vl["WHEEL_SPEEDS"]['RL'] + cp.vl["WHEEL_SPEEDS"]['RR']) / 4 can_gear = int(cp.vl["GEAR"]['GEAR']) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 70f477e558..5ff98a37e1 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -15,11 +15,7 @@ class SteerLimitParams: STEER_DRIVER_FACTOR = 1 # from dbc class CAR: -# CX3 = "Mazda CX-3" - CX5 = "Mazda CX-5" -# CX9 = "Mazda CX-9" -# Mazda6 = "Mazda 6" -# MAZDA3_2019 = "Mazda 3 2019" + CX5 = "Mazda CX-5 2017" class LKAS_LIMITS: STEER_THRESHOLD = 20 @@ -37,25 +33,17 @@ FINGERPRINTS = { 64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 254: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 736: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1171: 8, 1173: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1244: 8, 1260: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8, 1776: 8, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 }, - # TODO: add new car model: # Mazda 6 2017 GT { 64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 628: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1182: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1456: 8, 1479: 8 }, - # TODO: add new car model: + # CX-9 2017 Australia { 64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 138: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 522: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 583: 8, 605: 8, 606: 8, 628: 8, 832: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1177: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1247: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8 }, ], -# CAR.MAZDA3_2019: [ -# The new generation Mazda 3 2019 -# { -# 16: 8, 17: 8, 18: 8, 20: 8, 21: 8, 22: 8, 24: 8, 26: 8, 28: 8, 29: 8, 31: 8, 32: 8, 33: 8, 35: 8, 37: 8, 41: 8, 43: 8, 44: 8, 49: 8, 50: 8, 51: 8, 54: 8, 55: 8, 56: 8, 59: 8, 72: 8, 80: 8, 96: 8, 128: 8, 129: 8, 145: 8, 176: 8, 256: 8, 257: 8, 258: 8, 259: 8, 260: 8, 261: 8, 262: 8, 263: 8, 264: 8, 265: 8, 266: 8, 267: 8, 272: 8, 273: 8, 274: 8, 275: 8, 276: 8, 277: 8, 278: 8, 279: 8, 280: 8, 281: 8, 282: 8, 283: 8, 288: 8, 289: 8, 290: 8, 291: 8, 292: 8, 293: 8, 294: 8, 295: 8, 296: 8, 297: 8, 298: 8, 299: 8, 304: 8, 305: 8, 306: 8, 307: 8, 308: 8, 310: 8, 320: 8, 321: 8, 322: 8, 323: 8, 324: 8, 325: 8, 328: 8, 329: 8, 336: 8, 337: 8, 338: 8, 339: 8, 340: 8, 341: 8, 342: 8, 343: 8, 344: 8, 345: 8, 346: 8, 347: 8, 352: 8, 354: 8, 355: 8, 356: 8, 357: 8, 358: 8, 1034: 8, 1035: 8, 1120: 8, 1184: 8, 1192: 8, 1193: 8, 1200: 8, 1209: 8, 1216: 8, 1436: 8, 1475: 8, 2015: 8 -# }, -# ], - } ECU_FINGERPRINT = {