From eda99eb0e9fbd69bbd80a7318cd3e0eb8dd7ef7a Mon Sep 17 00:00:00 2001 From: Eric Brown Date: Wed, 31 Jan 2024 18:49:49 -0700 Subject: [PATCH] Update moving backward definition --- selfdrive/car/gm/carstate.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index df2edda0b2..805c508b55 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -33,7 +33,8 @@ class CarState(CarStateBase): self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) - self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0) and not (pt_cp.vl["EBCMWheelSpdRear"]["MovingForward"] != 0) + # 0 - unknown, 1 - forward, 2 - reverse, 3 - unsupported, 4 - fault + self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] != 2) and (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] != 2) # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0