66 lines
1.4 KiB
Markdown
66 lines
1.4 KiB
Markdown
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# CarState signals
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## Required for basic lateral control
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* `brakePressed`
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* `cruiseState`
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* `doorOpen`
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* `espDisabled`
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* `gasPressed`
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* `gearShifter`
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* `leftBlinker` / `rightBlinker`
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* `seatbeltUnlatched`
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* `standstill`
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* `steeringAngleDeg`
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* `steeringPressed`
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* `steeringTorque`
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* `steerFaultPermanent`
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* `steerFaultTemporary`
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* `vCruise`
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* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
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speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
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## Recommended / Required for openpilot longitudinal control
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* `accFaulted`
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* `espActive`
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* `parkingBrake`
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## Application Dependent
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* `blockPcmEnable`
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* `buttonEnable`
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* `brakeHoldActive`
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* `carFaultedNonCritical`
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* `invalidLkasSetting`
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* `lowSpeedAlert`
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* `regenBraking`
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* `steeringAngleOffsetDeg`
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* `steeringDisengage`
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* `steeringTorqueEps`
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* `stockLkas`
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* `vCruiseCluster`
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* `vEgoCluster`
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* `vehicleSensorsInvalid`
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## Automatically populated
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* `buttonEvents`
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These values are populated automatically by `parse_wheel_speeds`:
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* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
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* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
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* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
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## Optional
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* `brake`
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* `charging`
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* `fuelGauge`
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* `leftBlindspot` / `rightBlindspot`
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* `steeringRateDeg`
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* `stockAeb`
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* `stockFcw`
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* `yawRate`
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