Use car's speed signal instead of wheel speed

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
pull/988/head
Jafar Al-Gharaibeh 5 years ago committed by Adeeb Shihadeh
parent 05b051a555
commit b860882a6c
  1. 6
      selfdrive/car/mazda/carstate.py

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

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