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Rename GM CS variable to be consistent to the CAN parsers

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This commit is contained in:
Shane Smiskol
2023-02-08 17:51:53 -08:00
parent 276586fdf0
commit ec6a55057f
2 changed files with 3 additions and 3 deletions
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selfdrive/car/gm/carcontroller.py
+1 -1
View File
@@ -56,7 +56,7 @@ class CarController:
# - on startup, first few msgs are blocked
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
if not self.sent_lka_steering_cmd or out_of_sync:
steer_step = self.params.STEER_STEP
selfdrive/car/gm/carstate.py
+2 -2
View File
@@ -19,7 +19,7 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
self.loopback_lka_steering_cmd_updated = False
self.pt_lka_steering_cmd_counter = 0
self.camera_lka_steering_cmd_counter = 0
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
def update(self, pt_cp, cam_cp, loopback_cp):
@@ -35,7 +35,7 @@ class CarState(CarStateBase):
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
if self.CP.networkLocation == NetworkLocation.fwdCamera:
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],