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commaai · Jan 23, 2025 · 22ed1a4 · 22ed1a4
1 parent 94124b3
commit 22ed1a4
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
@@ -174,8 +174,7 @@ def update(self, can_parsers) -> structs.CarState:
     v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
-    v_weight = np.interp(v_wheel, v_weight_bp, v_weight_v)
-    v_weight = float(v_weight)
+    v_weight = float(np.interp(v_wheel, v_weight_bp, v_weight_v))
     ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 

diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
@@ -210,7 +210,7 @@ def update(self, CC, CS, now_nanos):
 
         # GVC does not overshoot ego acceleration when starting from stop, but still has a similar delay
         if not self.CP.flags & ToyotaFlags.SECOC.value:
-          a_ego_blended = np.interp(CS.out.vEgo, [1.0, 2.0], [CS.gvc, CS.out.aEgo])
+          a_ego_blended = float(np.interp(CS.out.vEgo, [1.0, 2.0], [CS.gvc, CS.out.aEgo]))
         else:
           a_ego_blended = CS.out.aEgo
 
@@ -287,7 +287,7 @@ def update(self, CC, CS, now_nanos):
     new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
-    new_actuators.steeringAngleDeg = float(self.last_angle)
+    new_actuators.steeringAngleDeg = self.last_angle
     new_actuators.accel = self.accel
 
     self.frame += 1