Reapply "Nissan: use high precision steering angle"#3423
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This reverts commit b959faf.
sshane
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Car behavior reportReplays driving segments through this PR and compares the behavior to master. Testing 50 segments for: NISSAN_XTRAIL, NISSAN_LEAF, NISSAN_LEAF_IC, NISSAN_ROGUE, NISSAN_ALTIMA Show changes |
…t-3417-nissan-high-prec-angle
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Might not have had to swap the buses on Altima... investigate later |
sshane
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May 31, 2026
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| int angle_meas_new = (msg->data[2] << 10) | (msg->data[3] << 2) | (msg->data[4] >> 6); | ||
| angle_meas_new = -angle_meas_new + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can); |
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exact same parsing as the LKAS signal! good sign, along with the signals closely matching vs diverging old angle signal
sshane
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May 31, 2026
| {.msg = {{0x2, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, | ||
| {0x2, 1, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, // STEER_ANGLE_SENSOR | ||
| {.msg = {{0x185, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // STEER_TORQUE_SENSOR | ||
| {.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, |
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some of these others are also always on a common bus, don't need the multiple entries
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Reapplies #3417
why doesn't test_models fail?!- fixed