Populate angle offset in carState for Toyota accurate angle sensor (#22091)

* populate angle offset in carstate for TSS2 * update ref old-commit-hash: b8e4717f72
4 years ago · fe3e0532e2
parent c47ef1dd39
commit fe3e0532e2
2 changed files with 3 additions and 1 deletions
--- 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:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-f283ecf7e7938410a81880120ccbabaabe2b3d67
+37dce56a5b925dca119dd623d8a69cd4c7b7356d