Subaru: log EPS torque (#25304)

* Subaru: log EPS torque * update refs
3 years ago · 7fee45ad6c
parent 1f087bceb4
commit 7fee45ad6c
3 changed files with 4 additions and 2 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 3fcbe9db7211b2f7524b80c351c7cf1f233c1e52
+Subproject commit e3704962060058c1ec1fb48a5aef767153d28fe7
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@ -47,6 +47,7 @@ class CarState(CarStateBase):

    ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
    ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
+    ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]

    ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
@ -80,6 +81,7 @@ class CarState(CarStateBase):
    signals = [
      # sig_name, sig_address
      ("Steer_Torque_Sensor", "Steering_Torque"),
+      ("Steer_Torque_Output", "Steering_Torque"),
      ("Steering_Angle", "Steering_Torque"),
      ("Steer_Error_1", "Steering_Torque"),
      ("Cruise_On", "CruiseControl"),
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-66790e176b98244bb76ce19fb1aa943b36c87dec
+cfe79d760f161a46e48b60c1debe11b8f300e717