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carstate

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This commit is contained in:
jakethesake420
2025-11-15 13:39:22 -06:00
parent f24cecd062
commit f43b883859
1 changed files with 2 additions and 4 deletions
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selfdrive/car/mazda/carstate.py
+2 -4
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@@ -181,10 +181,6 @@ 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"]
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"]
@@ -207,10 +203,12 @@ class CarState(CarStateBase):
ret.standstill = cp_cam.vl["SPEED"]["SPEED"] * unit_conversion < 0.1
if self.CP.flags & MazdaFlags.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"] >= 2)
ret.cruiseState.available = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] != 0)