From a8edd0a1e0ba8c4b1bfe42e0d5236ebf0a7a32cd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Nov 2022 16:17:02 -0700
Subject: [PATCH] log signed speed

---
 selfdrive/car/gm/carstate.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 7cb2274674..9fb756f2c9 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -39,6 +39,7 @@ class CarState(CarStateBase):
       pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
       pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
       pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
+      unit=CV.KPH_TO_MS * (-1 if pt_cp.vl["MovingBackward"]["RLWheelSpd"] else 1),
     )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
@@ -139,6 +140,7 @@ class CarState(CarStateBase):
       ("FRWheelSpd", "EBCMWheelSpdFront"),
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
+      ("MovingBackward", "EBCMWheelSpdRear"),
       ("PRNDL2", "ECMPRDNL2"),
       ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),