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changed according to the latest master version
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eFiniLan committed Feb 5, 2024
1 parent 02897a4 commit ec74994
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Showing 3 changed files with 7 additions and 3 deletions.
2 changes: 1 addition & 1 deletion cereal
Submodule cereal updated 2 files
+2 −1 car.capnp
+69 −7 log.capnp
3 changes: 2 additions & 1 deletion selfdrive/boardd/boardd.cc
Original file line number Diff line number Diff line change
Expand Up @@ -388,7 +388,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
ps.setIgnitionLine(health.ignition_line_pkt);
ps.setIgnitionCan(health.ignition_can_pkt);
ps.setControlsAllowed(health.controls_allowed_pkt);
ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
// rick - deprecated in panda
// ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
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5 changes: 4 additions & 1 deletion selfdrive/controls/controlsd.py
Original file line number Diff line number Diff line change
Expand Up @@ -795,7 +795,8 @@ def publish_logs(self, CS, start_time, CC, lac_log):
controlsState.active = self.active
controlsState.curvature = curvature
controlsState.desiredCurvature = self.desired_curvature
controlsState.desiredCurvatureRate = self.desired_curvature_rate
# rick - deprecated
# controlsState.desiredCurvatureRate = self.desired_curvature_rate
controlsState.state = self.state
controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
Expand All @@ -822,6 +823,8 @@ def publish_logs(self, CS, start_time, CC, lac_log):
controlsState.lateralControlState.torqueState = lac_log
elif lat_tuning == 'indi':
controlsState.lateralControlState.indiState = lac_log
elif lat_tuning == 'lqr':
controlsState.lateralControlState.lqrState = lac_log

self.pm.send('controlsState', dat)

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