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class var not needed

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pull/27494/head
sshane 3 years ago
parent 9fbc2745fa
commit 7304cd9a97
1 changed files with 4 additions and 5 deletions
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  1. 9
      selfdrive/car/toyota/carstate.py

9
selfdrive/car/toyota/carstate.py
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@ -29,7 +29,6 @@ class CarState(CarStateBase):
self.low_speed_lockout = False self.low_speed_lockout = False
self.acc_type = 1 self.acc_type = 1
self.lkas_hud = {} self.lkas_hud = {}
self.torque_sensor_angle_deg = 0
def update(self, cp, cp_cam): def update(self, cp, cp_cam):
ret = car.CarState.new_message() ret = car.CarState.new_message()
@ -63,20 +62,20 @@ class CarState(CarStateBase):
ret.standstill = ret.vEgoRaw == 0 ret.standstill = ret.vEgoRaw == 0
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
self.torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
# On some cars, the angle measurement is non-zero while initializing # On some cars, the angle measurement is non-zero while initializing
if abs(self.torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]): if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):
self.accurate_steer_angle_seen = True self.accurate_steer_angle_seen = True
if self.accurate_steer_angle_seen: if self.accurate_steer_angle_seen:
# Offset seems to be invalid for large steering angles # Offset seems to be invalid for large steering angles
if abs(ret.steeringAngleDeg) < 90 and cp.can_valid: if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
self.angle_offset.update(self.torque_sensor_angle_deg - ret.steeringAngleDeg) self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
if self.angle_offset.initialized: if self.angle_offset.initialized:
ret.steeringAngleOffsetDeg = self.angle_offset.x ret.steeringAngleOffsetDeg = self.angle_offset.x
ret.steeringAngleDeg = self.torque_sensor_angle_deg - self.angle_offset.x ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"] ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]

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