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need to use values[0]

This commit is contained in:
Shane Smiskol 2023-05-02 18:55:33 -07:00
parent ecd8dc86b6
commit 8f6d68345a
1 changed files with 2 additions and 2 deletions
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4
board/safety/safety_ford.h
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@ -178,7 +178,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
// Disable controls if speeds from ABS and PCM ECUs are too far apart.
// Signal: Veh_V_ActlEng
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
if (ABS(filtered_pcm_speed - vehicle_speed) > FORD_MAX_SPEED_DELTA) {
if (ABS(filtered_pcm_speed - vehicle_speed.values[0]) > FORD_MAX_SPEED_DELTA) {
controls_allowed = 0;
}
}
@ -187,7 +187,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
if (addr == MSG_Yaw_Data_FD1) {
// Signal: VehYaw_W_Actl
float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
float current_curvature = ford_yaw_rate / MAX(vehicle_speed, 0.1);
float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0], 0.1);
// convert current curvature into units on CAN for comparison with desired curvature
int current_curvature_can = current_curvature * (float)FORD_STEERING_LIMITS.angle_deg_to_can +
((current_curvature > 0.) ? 0.5 : -0.5);