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Adding GM Steering Rate (#495)

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* adding steering rate

* adding steering rate
This commit is contained in:
Kylan
2019-01-08 22:40:09 -05:00
committed by rbiasini
parent d84e64b315
commit b78ed77f1d
2 changed files with 3 additions and 0 deletions
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selfdrive/car/gm/carstate.py
+2
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@@ -22,6 +22,7 @@ def get_powertrain_can_parser(CP, canbus):
("AcceleratorPedal", "AcceleratorPedal", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("SteeringWheelRate", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0),
("FRWheelSpd", "EBCMWheelSpdFront", 0),
("RLWheelSpd", "EBCMWheelSpdRear", 0),
@@ -89,6 +90,7 @@ class CarState(object):
self.standstill = self.v_ego_raw < 0.01
self.angle_steers = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
self.angle_steers_rate = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelRate']
self.gear_shifter = parse_gear_shifter(pt_cp.vl["ECMPRDNL"]['PRNDL'])
self.user_brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition']
selfdrive/car/gm/interface.py
+1
View File
@@ -214,6 +214,7 @@ class CarInterface(object):
# steering wheel
ret.steeringAngle = self.CS.angle_steers
ret.steeringRate = self.CS.angle_steers_rate
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.