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github-actions[bot] 7fa972be6a sunnypilot v2026.02.09-4080

version: sunnypilot v2025.003.000 (dev)
date: 2026-02-09T02:04:38
master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f

2026-02-09 02:04:38 +00:00

CarState signals

Required for basic lateral control

brakePressed
cruiseState
doorOpen
espDisabled
gasPressed
gearShifter
leftBlinker / rightBlinker
seatbeltUnlatched
standstill
steeringAngleDeg
steeringPressed
steeringTorque
steerFaultPermanent
steerFaultTemporary
vCruise
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 speed in kph, so the helper function parse_wheel_speeds performs this conversion by default.

These values are populated automatically by parse_wheel_speeds:

aEgo: Acceleration of the ego vehicle, Kalman filtered derivative of vEgo.
vEgo: Speed of the ego vehicle, Kalman filtered from vEgoRaw.
vEgoRaw: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.