Steer Error

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
5 years ago · e7fd994bf6
parent 3fb60c0b62
commit e7fd994bf6
1 changed files with 2 additions and 3 deletions
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@ -95,14 +95,13 @@ class CarState(CarStateBase):
        self.low_speed_lockout = False
        self.low_speed_alert = False

-      if handsoff:
-        ret.steerWarning = True
+      ret.steerWarning = handsoff

    self.acc_active_last = self.acc_active


    self.cam_lkas = cp_cam.vl["CAM_LKAS"]
-    self.steerError = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1
+    ret.steerError = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1

    return ret