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Chrysler: increase steering angle resolution (#25278)

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pull/25265/head
Adeeb Shihadeh 3 years ago committed by GitHub
parent 0574b8504f
commit 49bd53549d
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3 changed files with 5 additions and 4 deletions
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  1. 2
      opendbc
  2. 5
      selfdrive/car/chrysler/carstate.py
  3. 2
      selfdrive/test/process_replay/ref_commit

2
opendbc

@ -1 +1 @@
Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e Subproject commit 67cf76f2524209ea19f6f867cb4671c88a3347ac

5
selfdrive/car/chrysler/carstate.py
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@ -63,7 +63,7 @@ class CarState(CarStateBase):
ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1 ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
# steering wheel # 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.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
@ -126,7 +126,8 @@ class CarState(CarStateBase):
("WHEEL_SPEED_RR", "ESP_6"), ("WHEEL_SPEED_RR", "ESP_6"),
("WHEEL_SPEED_RL", "ESP_6"), ("WHEEL_SPEED_RL", "ESP_6"),
("WHEEL_SPEED_FR", "ESP_6"), ("WHEEL_SPEED_FR", "ESP_6"),
("STEER_ANGLE", "STEERING"), ("STEERING_ANGLE", "STEERING"),
("STEERING_ANGLE_HP", "STEERING"),
("STEERING_RATE", "STEERING"), ("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"), ("TURN_SIGNALS", "STEERING_LEVERS"),
("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
dfacf4d807e04b855832218803b5c025d06569b8 ee36966d20fa63ed4b9488bbc75d61e95e464cb7
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