log signed speed

pull/26333/head
Shane Smiskol 3 years ago
parent 0589ff23a5
commit a8edd0a1e0
  1. 2
      selfdrive/car/gm/carstate.py

@ -39,6 +39,7 @@ class CarState(CarStateBase):
pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"], pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"], pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"], 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.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
@ -139,6 +140,7 @@ class CarState(CarStateBase):
("FRWheelSpd", "EBCMWheelSpdFront"), ("FRWheelSpd", "EBCMWheelSpdFront"),
("RLWheelSpd", "EBCMWheelSpdRear"), ("RLWheelSpd", "EBCMWheelSpdRear"),
("RRWheelSpd", "EBCMWheelSpdRear"), ("RRWheelSpd", "EBCMWheelSpdRear"),
("MovingBackward", "EBCMWheelSpdRear"),
("PRNDL2", "ECMPRDNL2"), ("PRNDL2", "ECMPRDNL2"),
("ManualMode", "ECMPRDNL2"), ("ManualMode", "ECMPRDNL2"),
("LKADriverAppldTrq", "PSCMStatus"), ("LKADriverAppldTrq", "PSCMStatus"),

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