still needs conversion to m/s

3 years ago · 87bdac960e
parent 6ba68763ef
commit 87bdac960e
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -56,7 +56,7 @@ class CarState(CarStateBase):
      cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
    )
    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
-    ret.vEgoCluster = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] if metric else cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"]
+    ret.vEgoCluster = (cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS) if metric else (cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"] * CV.MPH_TO_MS)
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)

    ret.standstill = ret.vEgoRaw < 0.1