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Fix steering angle assignment in CarState update method for Mazda

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Test User
2026-01-22 18:51:45 -06:00
parent 0123d16c8d
commit cd3f703bff
1 changed files with 1 additions and 2 deletions
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opendbc_repo/opendbc/car/mazda/carstate.py
+1 -2
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@@ -200,15 +200,14 @@ class CarState(CarStateBase):
unit_conversion = CV.MPH_TO_MS if cp.vl["SYSTEM_SETTINGS"]["IMPERIAL_UNIT"] else CV.KPH_TO_MS
ret.standstill = cp_cam.vl["SPEED"]["SPEED"] * unit_conversion < 0.1
if self.CP.flags & MazdaSafetyFlags.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.steeringRateDeg = (ret.steeringAngleDeg - self._prev_steering_angle) / DT_CTRL
self._prev_steering_angle = ret.steeringAngleDeg
ret.cruiseState.standstill = ret.standstill if not self.CP.openpilotLongitudinalControl else False