IQ.Pilot Release Commit @ a87e9e5

iqdbc_repo/iqdbc/car/tesla/carstate.py

@@ -8,6 +8,10 @@ from iqdbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, Tesla
 
 from iqdbc.iqpilot.car.tesla.carstate_ext import CarStateExt
 from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ
+from openpilot.common.params import Params
+from openpilot.system.proprietary_runtime._verified_import import import_verified_module
+
+vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
@@ -27,6 +31,7 @@ class CarState(CarStateBase, CarStateExt):
     self.acc_state_last = 0
     self.das_control = None
     self.das_body_controls_dat = b""
+    self._odometer_store = vehicle_state.VehicleOdometerStore(CP, Params())
     self.cruise_override = False
 
   def update_summon_state(self, summon_state: str, cruise_enabled: bool):
@@ -155,6 +160,8 @@ class CarState(CarStateBase, CarStateExt):
       self.das_body_controls_dat = bytes(can_parsers[Bus.cam].dat.get(0x3E9, b""))
 
     CarStateExt.update(self, ret, ret_iq, can_parsers)
+    if ret.odometer > 0.0:
+      ret.odometer = self._odometer_store.record(ret.odometer) or 0.0
 
     return ret, ret_iq