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Update carstate.py

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1okko 2024-01-26 12:33:14 +08:00 committed by GitHub
parent 3870196f73
commit 5fd1a51d69
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1 changed files with 3 additions and 3 deletions
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6
selfdrive/car/ford/carstate.py
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@ -31,7 +31,7 @@ class CarState(CarStateBase):
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
# The vehicle usually recovers out of this state within a minute of normal driving
self.vehicle_sensors_valid = cp.vl["ParkAid_Data"]["ExtSteeringAngleReq2"] < 32766
self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
# car speed
ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
@ -49,7 +49,7 @@ class CarState(CarStateBase):
ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)
# steering wheel
ret.steeringAngleDeg = cp.vl["ParkAid_Data"]["ExtSteeringAngleReq2"]
ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
@ -122,7 +122,7 @@ class CarState(CarStateBase):
("BrakeSnData_4", 50),
("EngBrakeData", 10),
("Cluster_Info1_FD1", 10),
("ParkAid_Data", 50),
("SteeringPinion_Data", 100),
("EPAS_INFO", 50),
("Steering_Data_FD1", 10),
("BodyInfo_3_FD1", 2),