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Manual Transmission

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jakethesake420
2024-12-24 21:37:08 -06:00
parent 13a8ffbb43
commit 9b1fba667c
1 changed files with 4 additions and 1 deletions
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selfdrive/car/mazda/carstate.py
+4 -1
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@@ -184,12 +184,15 @@ class CarState(CarStateBase):
ret.steeringAngleDeg = cp_cam.vl["STEER"]["STEER_ANGLE"]
ret.steeringTorque = cp_body.vl["EPS_FEEDBACK"]["STEER_TORQUE_SENSOR"]
can_gear = int(cp_cam.vl["GEAR"]["GEAR"])
ret.gas = cp_cam.vl["ENGINE_DATA"]["PEDAL_GAS"]
unit_conversion = CV.MPH_TO_MS if cp.vl["SYSTEM_SETTINGS"]["IMPERIAL_UNIT"] else CV.KPH_TO_MS
ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_DRIVER_ALLOWANCE
if self.CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
can_gear = int(cp_cam.vl["MANUAL_GEAR"]["GEAR"])
else:
can_gear = int(cp_cam.vl["GEAR"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.gasPressed = ret.gas > 0
ret.seatbeltUnlatched = False # Cruise will not engage if seatbelt is unlatched (handled by car)