Chrysler: increase steering angle resolution (#25278)

3 years ago · 49bd53549d
parent 0574b8504f
commit 49bd53549d
3 changed files with 5 additions and 4 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e
+Subproject commit 67cf76f2524209ea19f6f867cb4671c88a3347ac
--- 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"),
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-dfacf4d807e04b855832218803b5c025d06569b8
+ee36966d20fa63ed4b9488bbc75d61e95e464cb7