Update to steerError and steeringRate

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
5 years ago · ad343040fb
parent 56d099130e
commit ad343040fb
1 changed files with 3 additions and 3 deletions
--- 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']
@ -115,7 +115,7 @@ class CarState(CarStateBase):
    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