Nissan mph bit (#1609)

* Added MPH bit for Rogue/XTrail

* Init seatbeltUnlatched as True

selfdrive/car/nissan/carstate.py

@@ -11,6 +11,7 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.seatbeltUnlatched = True
 
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
@@ -44,20 +45,18 @@ class CarState(CarStateBase):
 
     ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
     if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
     elif self.CP.carFingerprint == CAR.LEAF:
+      ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
 
-    # TODO: Find mph/kph bit on XTRAIL until then, assume xtrail is kph.
-    # Unable to change kph to mph on the xtrail, need a rogue to test it on
     speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
     if speed != 255:
-      if self.CP.carFingerprint == CAR.XTRAIL:
-        conversion = CV.KPH_TO_MS
-      elif self.CP.carFingerprint == CAR.ROGUE:
-        conversion = CV.MPH_TO_MS
-      else:
+      if self.CP.carFingerprint == CAR.LEAF:
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
+      else:
+        conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
       speed -= 1  # Speed on HUD is always 1 lower than actually sent on can bus
       ret.cruiseState.speed = speed * conversion
 
@@ -74,8 +73,6 @@ class CarState(CarStateBase):
                         cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"],
                         cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]])
 
-    ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
-
     ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"])
 
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
@@ -115,8 +112,6 @@ class CarState(CarStateBase):
       ("RIGHT_BLINKER", "LIGHTS", 0),
       ("LEFT_BLINKER", "LIGHTS", 0),
 
-      ("SEATBELT_DRIVER_LATCHED", "SEATBELT", 0),
-
       ("ESP_DISABLED", "ESP", 0),
 
       ("GEAR_SHIFTER", "GEARBOX", 0),
@@ -137,6 +132,8 @@ class CarState(CarStateBase):
         ("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
 
         ("GAS_PEDAL", "GAS_PEDAL", 0),
+        ("SEATBELT_DRIVER_LATCHED", "HUD", 0),
+        ("SPEED_MPH", "HUD", 0),
 
         ("PROPILOT_BUTTON", "CRUISE_THROTTLE", 0),
         ("CANCEL_BUTTON", "CRUISE_THROTTLE", 0),
@@ -165,6 +162,7 @@ class CarState(CarStateBase):
         ("GAS_PEDAL", "CRUISE_THROTTLE", 0),
         ("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0),
         ("SPEED_MPH", "HUD_SETTINGS", 0),
+        ("SEATBELT_DRIVER_LATCHED", "SEATBELT", 0),
 
         # Copy other values, we use this to cancel
         ("CANCEL_SEATBELT", "CANCEL_MSG", 0),