From f24cecd062f61209449b795304bc5609373d020a Mon Sep 17 00:00:00 2001 From: jakethesake420 Date: Sat, 15 Nov 2025 13:38:26 -0600 Subject: [PATCH] carstate --- selfdrive/car/mazda/carstate.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 989a095408..0e5953f2f9 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -181,8 +181,10 @@ class CarState(CarStateBase): ret.engineRpm = cp_cam.vl["ENGINE_DATA"]["RPM"] #self.shifting = cp_cam.vl["GEAR"]["SHIFT"] #self.torque_converter_lock = cp_cam.vl["GEAR"]["TORQUE_CONVERTER_LOCK"] - - ret.steeringAngleDeg = cp_cam.vl["STEER"]["STEER_ANGLE"] + if self.CP.flags & MazdaFlags.GEN2: + ret.steeringAngleDeg = cp_cam.vl["STEER"]["STEER_ANGLE"] + else: # GEN3 + ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"] ret.steeringTorque = cp_body.vl["EPS_FEEDBACK"]["STEER_TORQUE_SENSOR"] ret.gas = cp_cam.vl["ENGINE_DATA"]["PEDAL_GAS"]