Adding GM Steering Rate (#495)

* adding steering rate * adding steering rate
commaai · Jan 9, 2019 · b78ed77 · b78ed77
1 parent d84e64b
commit b78ed77
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diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
@@ -22,6 +22,7 @@ def get_powertrain_can_parser(CP, canbus):
     ("AcceleratorPedal", "AcceleratorPedal", 0),
     ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
     ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
+    ("SteeringWheelRate", "PSCMSteeringAngle", 0),
     ("FLWheelSpd", "EBCMWheelSpdFront", 0),
     ("FRWheelSpd", "EBCMWheelSpdFront", 0),
     ("RLWheelSpd", "EBCMWheelSpdRear", 0),
@@ -89,6 +90,7 @@ def update(self, pt_cp):
     self.standstill = self.v_ego_raw < 0.01
 
     self.angle_steers = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
+    self.angle_steers_rate = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelRate']
     self.gear_shifter = parse_gear_shifter(pt_cp.vl["ECMPRDNL"]['PRNDL'])
     self.user_brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition']
 

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -214,6 +214,7 @@ def update(self, c):
 
     # steering wheel
     ret.steeringAngle = self.CS.angle_steers
+    ret.steeringRate = self.CS.angle_steers_rate
 
     # torque and user override. Driver awareness
     # timer resets when the user uses the steering wheel.