Toyota SAS

RetroPilot · Sep 21, 2023 · b3b40da · b3b40da
1 parent ffa8edb
commit b3b40da
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/opendbc b/opendbc
diff --git a/selfdrive/car/ocelot/carstate.py b/selfdrive/car/ocelot/carstate.py
@@ -51,8 +51,8 @@ def update(self, cp, cp_body):
 
     # Toyota SAS
     # Do we need an angle sensor for demo?
-    ret.steeringAngleDeg = 0 # cp_body.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE']
-    ret.steeringRateDeg = 0 # cp_body.vl["VSC"]['STEER_RATE']
+    ret.steeringAngleDeg = cp.vl["TOYOTA_STEERING_ANGLE_SENSOR1"]['TOYOTA_STEER_ANGLE'] + cp.vl["TOYOTA_STEERING_ANGLE_SENSOR1"]['TOYOTA_STEER_FRACTION']
+    ret.steeringRateDeg = cp.vl["TOYOTA_STEERING_ANGLE_SENSOR1"]['TOYOTA_STEER_RATE']
 
 
     # Steering information from smart standin ECU