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pull/26333/head
Shane Smiskol 3 years ago
parent c45408caf8
commit dc6c1f7a55
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/car/gm/carstate.py

2
selfdrive/car/gm/carstate.py
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@ -44,7 +44,7 @@ class CarState(CarStateBase):
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
# sample rear wheel speeds, standstill=True if ECM allows engagement with brake # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD ret.standstill = abs(ret.wheelSpeeds.rl) <= STANDSTILL_THRESHOLD and abs(ret.wheelSpeeds.rr) <= STANDSTILL_THRESHOLD
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1: if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
ret.gearShifter = self.parse_gear_shifter("T") ret.gearShifter = self.parse_gear_shifter("T")

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