test new dbc

commaai · Aug 14, 2022 · ad555a2 · ad555a2
1 parent 8bf8db2
commit ad555a2
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/opendbc b/opendbc
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
@@ -35,15 +35,15 @@ def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path
   """
 
   values = {
-    "LatCtlRng_L_Max": 0,                                                   # Unknown [0|126] meter
-    "HandsOffCnfm_B_Rq": 0,                                                 # Unknown: 0=Inactive, 1=Active [0|1]
-    "LatCtl_D_Rq": lca_rq,                                                  # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,                                       # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": precision,                                      # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": path_offset,                                  # Path offset [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,                                       # Path angle [-0.5|0.5235] radians
-    "LatCtlCurv_NoRate_Actl": curvature_rate,                               # Curvature rate [-0.001024|0.00102375] 1/meter^2
-    "LatCtlCurv_No_Actl": curvature,                                        # Curvature [-0.02|0.02094] 1/meter
+    "LatCtlRng_L_Max": 0,                       # Unknown [0|126] meter
+    "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
+    "LatCtl_D_Rq": lca_rq,                      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": ramp_type,           # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+    "LatCtlPrecision_D_Rq": precision,          # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+    "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.4995|0.5240] radians
+    "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
+    "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
   }
   return packer.make_can_msg("LateralMotionControl", 0, values)