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Subaru global imperial/metric ACC speed fix #638

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Subaru global imperial/metric ACC speed fix #638

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3 changes: 2 additions & 1 deletion opendbc/subaru_global_2017.dbc
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Expand Up @@ -321,10 +321,11 @@ BO_ 1658 NEW_MSG_39: 8 XXX
SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX

BO_ 1677 NEW_MSG_40: 8 XXX
BO_ 1677 Dash_State: 8 XXX
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
SG_ Units : 27|5@1+ (1,0) [5|27] "" XXX
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I don't think unit should be 5 bits. Wouldn't be better:

SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
imperial = 1 (b001)
metric = 6 (b110)

?


BO_ 1743 NEW_MSG_41: 8 XXX
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
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10 changes: 9 additions & 1 deletion selfdrive/car/subaru/carstate.py
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Expand Up @@ -26,6 +26,7 @@ def get_powertrain_can_parser(CP):
("DOOR_OPEN_FL", "BodyInfo", 1),
("DOOR_OPEN_RR", "BodyInfo", 1),
("DOOR_OPEN_RL", "BodyInfo", 1),
("Units", "Dash_State", 5),
]

checks = [
Expand Down Expand Up @@ -89,6 +90,7 @@ def __init__(self, CP):
self.steer_torque_driver = 0
self.steer_not_allowed = False
self.main_on = False
self.is_metric = False

# vEgo kalman filter
dt = 0.01
Expand All @@ -114,7 +116,13 @@ def update(self, cp, cp_cam):
self.v_wheel_rl = cp.vl["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS
self.v_wheel_rr = cp.vl["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS

self.v_cruise_pcm = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.MPH_TO_KPH
# 5 = imperial, 27 = metric
self.is_metric = cp.vl["Dash_State"]['Units'] == 27

if self.is_metric:
self.v_cruise_pcm = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed']
else:
self.v_cruise_pcm = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.MPH_TO_KPH

v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
# Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default
Expand Down