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Subaru: add message for angle LKAS (#31402)

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add angle
old-commit-hash: 33e6158d9b
This commit is contained in:
Justin Newberry
2024-02-10 20:47:06 -05:00
committed by GitHub
parent de4644aa73
commit 5d424abf32
1 changed files with 9 additions and 0 deletions
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selfdrive/car/subaru/subarucan.py
+9
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@@ -13,6 +13,15 @@ def create_steering_control(packer, apply_steer, steer_req):
return packer.make_can_msg("ES_LKAS", 0, values)
def create_steering_control_angle(packer, apply_steer, steer_req):
values = {
"LKAS_Output": apply_steer,
"LKAS_Request": steer_req,
"SET_3": 3
}
return packer.make_can_msg("ES_LKAS_ANGLE", 0, values)
def create_steering_status(packer):
return packer.make_can_msg("ES_LKAS_State", 0, {})