add carState.steerWarning and carState.steerError

cfranyota · May 1, 2020 · 3f384ef · 3f384ef
1 parent 8b347b0
commit 3f384ef
Showing 1 changed file with 7 additions and 5 deletions.
diff --git a/car.capnp b/car.capnp
@@ -123,12 +123,14 @@ struct CarState {
   brakeLights @19 :Bool;
 
   # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringAngle @7 :Float32;       # deg
+  steeringRate @15 :Float32;       # deg/s
+  steeringTorque @8 :Float32;      # TODO: standardize units
   steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @33 :Bool;          # temporary steer unavailble
+  steerError @34 :Bool;            # permanent steer error
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;