From 1c9dc57f86e5caf0b4330a0dcbbe649c009a4588 Mon Sep 17 00:00:00 2001 From: MoreTore Date: Tue, 18 Nov 2025 13:57:28 -0600 Subject: [PATCH] fix carstate --- selfdrive/car/mazda/carstate.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index f3ecb51d16..e224288503 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -205,15 +205,14 @@ class CarState(CarStateBase): ret.standstill = cp_cam.vl["SPEED"]["SPEED"] * unit_conversion < 0.1 if self.CP.flags & MazdaFlags.GEN2: - ret.steeringAngleDeg = cp_cam.vl["STEER"]["STEER_ANGLE"] ret.cruiseState.speed = cp.vl["CRUZE_STATE"]["CRZ_SPEED"] * unit_conversion ret.cruiseState.enabled = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2) ret.cruiseState.available = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] != 0) else: - ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"] ret.cruiseState.speed = cp_body.vl["CRUZE_STATE"]["CRZ_SPEED"] * unit_conversion ret.cruiseState.enabled = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] >= 3) ret.cruiseState.available = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2) + ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"] ret.cruiseState.standstill = ret.standstill ret.steeringRateDeg = (ret.steeringAngleDeg - self._prev_steering_angle) / DT_CTRL self._prev_steering_angle = ret.steeringAngleDeg