From 1dff58c41c2b651ae2451cbbdd66e9f050acd656 Mon Sep 17 00:00:00 2001 From: jakethesake420 Date: Sat, 15 Nov 2025 13:14:01 -0600 Subject: [PATCH] carstate --- selfdrive/car/mazda/carstate.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 77f901730b..fc2c6117c9 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -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