pull/33208/head
Shane Smiskol 1 year ago
parent c8b7d1cf41
commit 83cb0890f6
  1. 5
      selfdrive/car/body/carstate.py

@ -1,4 +1,5 @@
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.body.values import DBC
@ -6,7 +7,7 @@ STARTUP_TICKS = 100
class CarState(CarStateBase):
def update(self, cp):
ret = CarState.new_message()
ret = structs.CarState()
ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
@ -23,7 +24,7 @@ class CarState(CarStateBase):
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
# irrelevant for non-car
ret.gearShifter = CarState.GearShifter.drive
ret.gearShifter = structs.CarState.GearShifter.drive
ret.cruiseState.enabled = True
ret.cruiseState.available = True

Loading…
Cancel
Save