From b8e4717f72ed8175e3c403711917c759ce2483c0 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 31 Aug 2021 11:34:00 -0700 Subject: [PATCH] Populate angle offset in carState for Toyota accurate angle sensor (#22091) * populate angle offset in carstate for TSS2 * update ref --- selfdrive/car/toyota/carstate.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 952e39ce21..a9d00b3ca3 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -53,6 +53,8 @@ class CarState(CarStateBase): if self.accurate_steer_angle_seen: ret.steeringAngleDeg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] - self.angle_offset + ret.steeringAngleOffsetDeg = self.angle_offset + if self.needs_angle_offset: angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] if abs(angle_wheel) > 1e-3: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 51350258c5..bb1c82c18b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f283ecf7e7938410a81880120ccbabaabe2b3d67 \ No newline at end of file +37dce56a5b925dca119dd623d8a69cd4c7b7356d \ No newline at end of file