Tesla: better standstill message (commaai#1370)

better standstill message
cydia2020 · Oct 14, 2024 · 7aefdec · 7aefdec
1 parent d8008d6
commit 7aefdec
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
@@ -23,7 +23,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     # Vehicle speed
     ret.vEgoRaw = cp.vl["DI_speed"]["DI_vehicleSpeed"] * CV.KPH_TO_MS
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = cp.vl["ESP_B"]["ESP_vehicleStandstillSts"] == 1
+    ret.standstill = cp.vl["DI_state"]["DI_vehicleHoldState"] == 3
 
     # Gas pedal
     pedal_status = cp.vl["DI_systemStatus"]["DI_accelPedalPos"]
@@ -92,7 +92,6 @@ def get_can_parser(CP):
     messages = [
       # sig_address, frequency
       ("DI_speed", 50),
-      ("ESP_B", 50),
       ("DI_systemStatus", 100),
       ("IBST_status", 25),
       ("DI_state", 10),