mazda: count the dash distance bars the way the cluster does - #11
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castawait wants to merge 1 commit into
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mazda: count the dash distance bars the way the cluster does#11castawait wants to merge 1 commit into
castawait wants to merge 1 commit into
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The distance selection went to CRZ_CTRL unmapped, so the cluster showed it reversed. The DBC documents DISTANCE_SETTING as 0 disabled, 1 is 4 bars and 4 is 1 bar, while leadDistanceBars counts up from 1 (closest) to 3. The cluster lights 5 - DISTANCE_SETTING bars, so send 5 - bars. Display only. The following gap the planner keeps comes from T_FOLLOW and is unchanged. The golden tx fixture moves by the CRZ_CTRL gap bit only.
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Problem
With openpilot longitudinal, the dash shows the following distance reversed: picking the closest setting lights the most bars, and the farthest lights the fewest. The controller passes
leadDistanceBarsto CRZ_CTRLDISTANCE_SETTINGunmapped.leadDistanceBarscounts up from 1 (closest) to 3, while the DBC documentsDISTANCE_SETTINGcounting down: 0 disabled, 1 is 4 bars, 2 is 3 bars, 3 is 2 bars, 4 is 1 bar.Fix
Send
5 - bars, so 1, 2 and 3 bars go out as 4, 3 and 2, and the cluster lights the number of bars selected. Toyota maps its reversed distance field the same way (4 - leadDistanceBars). The default when no setting is present stays 2 bars, now sent as 3.This only changes what the dash shows. The following gap the planner keeps comes from
T_FOLLOWand is unchanged.Validation
test_gap_setting_mirrors_drivernow checks the wire value for each bar count (1 to 4, 2 to 3, 3 to 2). On the unchanged controller all three cases fail.DISTANCE_SETTINGfield. Every other frame is byte identical.ruff checkclean.AI Usage
Disclaimer: Claude Opus 5 by Anthropic was used to help develop, debug, and document this submission. All changes were reviewed and validated by a human.