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Log actual actuator command that was sent (#233) 

* un-deprecate gas/brake

* log processed actuators

* add speed for honda

* rename and add comment
This commit is contained in:
Willem Melching 2021-12-16 12:21:25 +01:00 committed by GitHub
parent f45cd59d78
commit f1c5c8ef7c
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1 changed files with 10 additions and 2 deletions
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car.capnp
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@ -290,7 +290,14 @@ struct CarControl {
enabled @0 :Bool;
active @7 :Bool;
# Actuator commands as computed by controlsd
actuators @6 :Actuators;
# Any car specific rate limits or quirks applied by
# the CarController are reflected in actuatorsOutput
# and matches what is sent to the car
actuatorsOutput @10 :Actuators;
roll @8 :Float32;
pitch @9 :Float32;
@ -299,12 +306,13 @@ struct CarControl {
struct Actuators {
# range from 0.0 - 1.0
gasDEPRECATED @0: Float32;
brakeDEPRECATED @1: Float32;
gas @0: Float32;
brake @1: Float32;
# range from -1.0 - 1.0
steer @2: Float32;
steeringAngleDeg @3: Float32;
speed @6: Float32; # m/s
accel @4: Float32; # m/s^2
longControlState @5: LongControlState;