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VW: match panda standstill check (#25761)

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* test models: check panda standstill

* match panda

* reverse exception

* check == 0

* bumppanda

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Shane Smiskol
2023-01-10 22:28:54 -08:00
committed by GitHub
parent cb88b3ed65
commit 29470d2d2d
3 changed files with 4 additions and 4 deletions
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2
panda

Submodule panda updated: 345147fe2b...0b3b906036

2
selfdrive/car/tests/test_models.py
View File

@@ -238,7 +238,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: check rest of panda's carstate (steering, ACC main on, etc.)
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
if self.CP.carName not in ("hyundai", "volkswagen", "body"):
if self.CP.carName not in ("hyundai", "body"):
# TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()

4
selfdrive/car/volkswagen/carstate.py
View File

@@ -44,7 +44,7 @@ class CarState(CarStateBase):
ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgo < 0.1
ret.standstill = ret.vEgoRaw == 0
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.
@@ -160,7 +160,7 @@ class CarState(CarStateBase):
# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgo < 0.1
ret.standstill = ret.vEgoRaw == 0
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.