From b78ed77f1dbcfdeffb05e7996b925391a663fb7e Mon Sep 17 00:00:00 2001
From: Kylan <20389320+CryptoKylan@users.noreply.github.com>
Date: Tue, 8 Jan 2019 22:40:09 -0500
Subject: [PATCH] Adding GM Steering Rate (#495)

* adding steering rate

* adding steering rate
---
 selfdrive/car/gm/carstate.py  | 2 ++
 selfdrive/car/gm/interface.py | 1 +
 2 files changed, 3 insertions(+)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 24c73a3079..5801b36598 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -22,6 +22,7 @@ def get_powertrain_can_parser(CP, canbus):
     ("AcceleratorPedal", "AcceleratorPedal", 0),
     ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
     ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
+    ("SteeringWheelRate", "PSCMSteeringAngle", 0),
     ("FLWheelSpd", "EBCMWheelSpdFront", 0),
     ("FRWheelSpd", "EBCMWheelSpdFront", 0),
     ("RLWheelSpd", "EBCMWheelSpdRear", 0),
@@ -89,6 +90,7 @@ class CarState(object):
     self.standstill = self.v_ego_raw < 0.01
 
     self.angle_steers = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
+    self.angle_steers_rate = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelRate']
     self.gear_shifter = parse_gear_shifter(pt_cp.vl["ECMPRDNL"]['PRNDL'])
     self.user_brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition']
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 9ec1b9e5d0..854d95ebf3 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -214,6 +214,7 @@ class CarInterface(object):
 
     # steering wheel
     ret.steeringAngle = self.CS.angle_steers
+    ret.steeringRate = self.CS.angle_steers_rate
 
     # torque and user override. Driver awareness
     # timer resets when the user uses the steering wheel.