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carstate

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This commit is contained in:
jakethesake420
2025-11-15 13:14:01 -06:00
parent 8ec66ddf5c
commit 1dff58c41c
1 changed files with 8 additions and 3 deletions
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selfdrive/car/mazda/carstate.py
+8 -3
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@@ -204,9 +204,14 @@ class CarState(CarStateBase):
ret.steerFaultTemporary = False # TODO locate signal. Car shows light on dash if there is a fault
ret.standstill = cp_cam.vl["SPEED"]["SPEED"] * unit_conversion < 0.1
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)
if self.CP.flags & MazdaFlags.GEN2:
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.cruiseState.speed = cp_body.vl["CRUZE_STATE"]["CRZ_SPEED"] * unit_conversion
ret.cruiseState.enabled = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2)
ret.cruiseState.available = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] != 0)
ret.cruiseState.standstill = ret.standstill
self.cp = cp