From ad343040fbe5cd3175f8b2a8755bdfe35aa7fef9 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Fri, 1 May 2020 16:19:48 -0500 Subject: [PATCH] Update to steerError and steeringRate Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/carstate.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index fbd9331ddf..afd986b82e 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -52,7 +52,7 @@ class CarState(CarStateBase): ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]['STEER_TORQUE_MOTOR'] - self.angle_steers_rate = cp.vl["STEER_RATE"]['STEER_ANGLE_RATE'] + ret.steeringRate = cp.vl["STEER_RATE"]['STEER_ANGLE_RATE'] ret.brakePressed = cp.vl["PEDALS"]['BRAKE_ON'] == 1 ret.brake = cp.vl["BRAKE"]['BRAKE_PRESSURE'] @@ -108,14 +108,14 @@ class CarState(CarStateBase): ret.cruiseState.speed = self.cruise_speed if self.lkas_speed_lock or handsoff: ret.steerWarning = True - else: + else: ret.cruiseState.speed = 0 self.low_speed_lockout_last = self.low_speed_lockout self.cam_lkas = cp_cam.vl["CAM_LKAS"] - self.steer_error = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1 + self.steerError = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1 return ret