From f43b8838596b836deb0a5e55a680b0331162e844 Mon Sep 17 00:00:00 2001 From: jakethesake420 Date: Sat, 15 Nov 2025 13:39:22 -0600 Subject: [PATCH] carstate --- selfdrive/car/mazda/carstate.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 0e5953f2f..f3733dae9 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -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)