Chrysler: increase steering angle resolution

commaai · Jul 25, 2022 · c1c2939 · c1c2939
1 parent 0574b85
commit c1c2939
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/opendbc b/opendbc
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
@@ -63,7 +63,7 @@ def update(self, cp, cp_cam):
     ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
 
     # steering wheel
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
     ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
@@ -126,7 +126,8 @@ def get_can_parser(CP):
       ("WHEEL_SPEED_RR", "ESP_6"),
       ("WHEEL_SPEED_RL", "ESP_6"),
       ("WHEEL_SPEED_FR", "ESP_6"),
-      ("STEER_ANGLE", "STEERING"),
+      ("STEERING_ANGLE", "STEERING"),
+      ("STEERING_ANGLE_HP", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
       ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dfacf4d807e04b855832218803b5c025d06569b8
+ee36966d20fa63ed4b9488bbc75d61e95e464cb7