From 954fa5e6da6bfaf1a9354405c5571d729a40fc36 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Nov 2024 15:51:45 -0800
Subject: [PATCH] pandad: fall back to panda voltage and current measurements
 (#33935)

---
 selfdrive/pandad/pandad.cc | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index b0b10fe315..a85159f33a 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -306,6 +306,16 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
     LOGW("reading hwmon took %lfms", read_time);
   }
 
+  // fall back to panda's voltage and current measurement
+  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
+    auto health_opt = panda->get_state();
+    if (health_opt) {
+      health_t health = *health_opt;
+      ps.setVoltage(health.voltage_pkt);
+      ps.setCurrent(health.current_pkt);
+    }
+  }
+
   uint16_t fan_speed_rpm = panda->get_fan_speed();
   ps.setFanSpeedRpm(fan_speed_rpm);