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@ -27,11 +27,10 @@ class CarState(CarStateBase): |
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ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]['RR'] * CV.KPH_TO_MS |
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. |
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) |
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ret.standstill = ret.vEgoRaw < .1 |
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# Match panda speed reading |
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speed_kph = (cp.vl["WHEEL_SPEEDS"]['FL'] + cp.vl["WHEEL_SPEEDS"]['FR'] + |
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cp.vl["WHEEL_SPEEDS"]['RL'] + cp.vl["WHEEL_SPEEDS"]['RR']) / 4 |
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speed_kph = cp.vl["ENGINE_DATA"]['SPEED'] |
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ret.standstill = speed_kph < .1 |
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can_gear = int(cp.vl["GEAR"]['GEAR']) |
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) |
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@ -149,6 +148,7 @@ class CarState(CarStateBase): |
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("BL", "DOORS", 0), |
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("BR", "DOORS", 0), |
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("PEDAL_GAS", "ENGINE_DATA", 0), |
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("SPEED", "ENGINE_DATA", 0), |
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("RES", "CRZ_BTNS", 0), |
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("SET_P", "CRZ_BTNS", 0), |
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("SET_M", "CRZ_BTNS", 0), |
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