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Add GM steering rate and EPS torque to CarState (#20319)

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* Add GM steering rate and EPS torque to CarState

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
qadmus
2021-03-12 14:51:20 -08:00
committed by GitHub
parent ff1c15d2dc
commit ad123714ba
2 changed files with 10 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
selfdrive/car/gm/carstate.py
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@@ -28,7 +28,6 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.01
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]['PRNDL'], None))
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition'] / 0xd0
# Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
@@ -38,9 +37,16 @@ class CarState(CarStateBase):
ret.gas = pt_cp.vl["AcceleratorPedal"]['AcceleratorPedal'] / 254.
ret.gasPressed = ret.gas > 1e-5
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelRate']
ret.steeringTorque = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]['LKATorqueDelivered']
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
# 0 inactive, 1 active, 2 temporarily limited, 3 failed
self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
ret.steerWarning = self.lkas_status not in [0, 1]
# 1 - open, 0 - closed
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]['FrontLeftDoor'] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]['FrontRightDoor'] == 1 or
@@ -65,10 +71,6 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
# 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
ret.steerWarning = self.lkas_status not in [0, 1]
return ret
@staticmethod
@@ -88,12 +90,14 @@ class CarState(CarStateBase):
("CruiseState", "AcceleratorPedal2", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("SteeringWheelRate", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0),
("FRWheelSpd", "EBCMWheelSpdFront", 0),
("RLWheelSpd", "EBCMWheelSpdRear", 0),
("RRWheelSpd", "EBCMWheelSpdRear", 0),
("PRNDL", "ECMPRDNL", 0),
("LKADriverAppldTrq", "PSCMStatus", 0),
("LKATorqueDelivered", "PSCMStatus", 0),
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),

2
selfdrive/test/process_replay/ref_commit
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@@ -1 +1 @@
31aa88edbb3badbbf2d21c7ffd0ba38f9bb1ae2d
e74d4020420151c92b545e45d09d67719b91c901