CarController: log steer sent to the car (#26743)

* log value sent to the car

* rename

* bump

* Update ref_commit

cereal

@@ -1 +1 @@
-Subproject commit eaf962bcebee713d26008db30d95c6a713e9fc59
+Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde

selfdrive/car/body/carcontroller.py

@@ -85,6 +85,7 @@ class CarController:
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
+    new_actuators.steerOutputCan = torque_r
 
     self.frame += 1
     return new_actuators, can_sends

selfdrive/car/chrysler/carcontroller.py

@@ -78,5 +78,6 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     return new_actuators, can_sends

selfdrive/car/gm/carcontroller.py

@@ -158,6 +158,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
     new_actuators.brake = self.apply_brake
 

selfdrive/car/honda/carcontroller.py

@@ -262,6 +262,7 @@ class CarController:
     new_actuators.gas = self.gas
     new_actuators.brake = self.brake
     new_actuators.steer = self.last_steer
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends

selfdrive/car/hyundai/carcontroller.py

@@ -186,6 +186,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel
 
     self.frame += 1

selfdrive/car/mazda/carcontroller.py

@@ -59,6 +59,7 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends

selfdrive/car/subaru/carcontroller.py

@@ -87,6 +87,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.frame += 1
     return new_actuators, can_sends

selfdrive/car/toyota/carcontroller.py

@@ -158,6 +158,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
 

selfdrive/car/volkswagen/carcontroller.py

@@ -107,6 +107,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f17412941a0e8229eea308c33189a5bdb1a17ae8
+9876d91c77d3f7611398c43c4d79237cadb01c9c