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firestar5683
2026-03-11 18:07:29 -05:00
parent 39ad7e897f
commit 52d87de588
4 changed files with 6 additions and 3 deletions
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selfdrive/car/gm/carstate.py
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@@ -94,6 +94,7 @@ class CarState(CarStateBase):
)
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.vEgoCluster = ret.vEgo * frogpilot_toggles.cluster_offset
# sample rear wheel speeds, standstill=True if ECM allows engagement with brake
ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD