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fix speed of mock car with qcom gps (#25993)

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* fix speed of mock car with qcom gps

* typo
old-commit-hash: 7c49c44c4ee2e846a275dab1cb5141009d55318e
This commit is contained in:
Adeeb Shihadeh
2022-10-06 16:55:14 -07:00
committed by GitHub
parent 3e2f436d4c
commit a31676383c
1 changed files with 9 additions and 9 deletions
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selfdrive/car/mock/interface.py
+9 -9
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@@ -20,8 +20,7 @@ class CarInterface(CarInterfaceBase):
cloudlog.debug("Using Mock Car Interface")
self.gyro = messaging.sub_sock('gyroscope')
self.gps = messaging.sub_sock('gpsLocationExternal')
self.sm = messaging.SubMaster(['gyroscope', 'gpsLocation', 'gpsLocationExternal'])
self.speed = 0.
self.prev_speed = 0.
@@ -45,15 +44,16 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self, c):
# get basic data from phone and gps since CAN isn't connected
gyro_sensor = messaging.recv_sock(self.gyro)
if gyro_sensor is not None:
self.yaw_rate_meas = -gyro_sensor.gyroscope.gyroUncalibrated.v[0]
self.sm.update(0)
gps = messaging.recv_sock(self.gps)
if gps is not None:
# get basic data from phone and gps since CAN isn't connected
if self.sm.updated['gyroscope']:
self.yaw_rate_meas = -self.sm['gyroscope'].gyroUncalibrated.v[0]
gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
if self.sm.updated[gps_sock]:
self.prev_speed = self.speed
self.speed = gps.gpsLocationExternal.speed
self.speed = self.sm[gps_sock].speed
# create message
ret = car.CarState.new_message()