log signed speed

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"),