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Nissan: use cleaner Leaf brake pressed signal (#22890)

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old-commit-hash: c6ce88e23136dd5d9b2a1372c70f98a51af76aed
This commit is contained in:
Adeeb Shihadeh
2021-11-12 12:18:13 -08:00
committed by GitHub
parent 387d4fc961
commit 663a783e5a
2 changed files with 3 additions and 4 deletions
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panda
+1 -1
Submodule panda updated: cc8e705d7c...73bbf58567
selfdrive/car/nissan/carstate.py
+2 -3
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@@ -33,7 +33,7 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
ret.brakePressed = bool(cp.vl["BRAKE_PEDAL"]["BRAKE_PEDAL"] > 3)
ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
@@ -184,8 +184,7 @@ class CarState(CarStateBase):
elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
signals += [
("BRAKE_PEDAL", "BRAKE_PEDAL", 0),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0),
("SPEED_MPH", "HUD_SETTINGS", 0),