From cd3f703bff9422d52279af287c82e898e0821209 Mon Sep 17 00:00:00 2001 From: Test User Date: Thu, 22 Jan 2026 18:51:45 -0600 Subject: [PATCH] Fix steering angle assignment in CarState update method for Mazda --- opendbc_repo/opendbc/car/mazda/carstate.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/opendbc_repo/opendbc/car/mazda/carstate.py b/opendbc_repo/opendbc/car/mazda/carstate.py index fee4751d8..3845386d1 100644 --- a/opendbc_repo/opendbc/car/mazda/carstate.py +++ b/opendbc_repo/opendbc/car/mazda/carstate.py @@ -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