steering responds to the model

RetroPilot · Sep 18, 2023 · b2f9c8b · b2f9c8b
1 parent 39b9fef
commit b2f9c8b
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/selfdrive/car/ocelot/carstate.py b/selfdrive/car/ocelot/carstate.py
@@ -6,6 +6,7 @@
 from selfdrive.config import Conversions as CV
 from selfdrive.car.ocelot.values import DBC, BUTTON_STATES
 
+GearShifter = car.CarState.GearShifter
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -35,7 +36,7 @@ def update(self, cp, cp_body):
     ret.wheelSpeeds.rl = 60 * CV.KPH_TO_MS
     ret.wheelSpeeds.rr = 60 * CV.KPH_TO_MS
     ret.brakeLights = False
-    ret.gearShifter = 'D'
+    ret.gearShifter = GearShifter.drive
 
     # iBooster data
     ret.brakePressed = False
@@ -67,7 +68,7 @@ def update(self, cp, cp_body):
     ret.steeringPressed = False #abs(ret.steeringTorque) > STEER_THRESHOLD
     ret.steerWarning = False #cp.vl["STEERING_STATUS"]['STEERING_OK'] != 0
 
-    main_on = bool(cp.vl["CRUISE_BUTTONS"]['MAIN_ON'])
+    main_on = bool(cp.vl["CRUISE_STATE"]['ENABLE'])
 
     ret.cruiseState.available = main_on
     ret.cruiseState.standstill = False

diff --git a/selfdrive/car/ocelot/interface.py b/selfdrive/car/ocelot/interface.py
@@ -10,7 +10,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def come_gb(accel, speed):
+  def compute_gb(accel, speed):
     return float(accel) / 3.0
 
   @staticmethod