Merge "Updated PERF_STEERING_ANGLE to support rear steering."
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index 85c7228..bf85da2 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -300,7 +300,24 @@
.maxSampleRate = 10.0f,
},
.initialValue = {.floatValues = {0.0f}}},
-
+ {.config =
+ {
+ .prop = toInt(VehicleProperty::PERF_STEERING_ANGLE),
+ .access = VehiclePropertyAccess::READ,
+ .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+ .minSampleRate = 0.0f,
+ .maxSampleRate = 10.0f,
+ },
+ .initialValue = {.floatValues = {0.0f}}},
+ {.config =
+ {
+ .prop = toInt(VehicleProperty::PERF_REAR_STEERING_ANGLE),
+ .access = VehiclePropertyAccess::READ,
+ .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+ .minSampleRate = 0.0f,
+ .maxSampleRate = 10.0f,
+ },
+ .initialValue = {.floatValues = {0.0f}}},
{
.config =
{
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 7e0aa25..6145ea2 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -362,7 +362,7 @@
| VehicleArea:GLOBAL),
/**
- * Steering angle of the vehicle
+ * Front bicycle model steering angle for vehicle
*
* Angle is in degrees. Left is negative.
*
@@ -377,6 +377,21 @@
| VehicleArea:GLOBAL),
/**
+ * Rear bicycle model steering angle for vehicle
+ *
+ * Angle is in degrees. Left is negative.
+ *
+ * @change_mode VehiclePropertyChangeMode:CONTINUOUS
+ * @access VehiclePropertyAccess:READ
+ * @unit VehicleUnit:DEGREES
+ */
+ PERF_REAR_STEERING_ANGLE = (
+ 0x0210
+ | VehiclePropertyGroup:SYSTEM
+ | VehiclePropertyType:FLOAT
+ | VehicleArea:GLOBAL),
+
+ /**
* Temperature of engine coolant
*
* @change_mode VehiclePropertyChangeMode:CONTINUOUS