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Merge branch 'master' into dev-priv/master

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This commit is contained in:
Jason Wen
2023-02-21 23:51:14 -05:00
parent aa8f5a520a d1f7bb6bb5
commit b50329f1b5
3 changed files with 6 additions and 3 deletions
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selfdrive/car/subaru/carcontroller.py
+1 -1
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@@ -40,7 +40,7 @@ class CarController:
apply_steer = 0
if self.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer))
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
selfdrive/car/subaru/interface.py
-1
View File
@@ -16,7 +16,6 @@ class CarInterface(CarInterfaceBase):
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "subaru"
ret.radarUnavailable = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.autoResumeSng = False
if candidate in PREGLOBAL_CARS:
selfdrive/car/subaru/subarucan.py
+5 -1
View File
@@ -87,8 +87,12 @@ def subaru_preglobal_checksum(packer, values, addr):
dat = packer.make_can_msg(addr, 0, values)[2]
return (sum(dat[:7])) % 256
def create_preglobal_steering_control(packer, apply_steer):
def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
idx = (frame / steer_step) % 8
values = {
"COUNTER": idx,
"LKAS_Command": apply_steer,
"LKAS_Active": 1 if apply_steer != 0 else 0
}