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more cleanup

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This commit is contained in:
Jason Wen
2023-12-19 17:36:45 -05:00
committed by DevTekVE
parent c66f3492c5
commit 1cf45623f1
1 changed files with 3 additions and 3 deletions
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selfdrive/car/ford/carstate.py
+3 -3
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@@ -24,7 +24,7 @@ class CarState(CarStateBase):
self.prev_lkas_enabled = None
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
self.prev_vLimit = 0
self.v_limit = 0
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
@@ -135,12 +135,12 @@ class CarState(CarStateBase):
def update_traffic_signals(self, cp_cam):
# TODO: Check if CAN platforms have the same signals
if self.CP.carFingerprint in CANFD_CAR:
v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
self.v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
v_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"]
speed_factor = CV.MPH_TO_MS if v_limit_unit == 2 else CV.KPH_TO_MS if v_limit_unit == 1 else 0
return v_limit * speed_factor if v_limit not in (0, 255) else 0
return self.v_limit * speed_factor if self.v_limit not in (0, 255) else 0
@staticmethod
def get_can_parser(CP):