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1.7.0 (Compatible with AS ROS Binary Driver Versions 1.6.0 and newer)

  • Bug fix: Fixed the sign on the steering report message.
  • Bug fix: Fixed the value on the steering report message to not include the calibrated offset from center.
  • Bug fix: Fixed manual shift report issue (flipping between F and R on output).
  • Bug fix: Fixed report values for brake.
  • Feature addition: Added new code to handle GEM hardware revision on shift module.

1.6.0 (Compatible with AS ROS Binary Driver Versions 1.6.0 and newer)

  • Changed to no longer listen for the heartbeat message from the driver and instead base the user CAN timeout on any message received on the user CAN.
  • When disabled, the PACMod will no longer enable power steering mode on the provided EPAS motor. It will now default to manual steering to avoid a jitter bug in the EPAS.

1.4.1 (Compatible with AS ROS Binary Driver Versions 1.4.1 and newer)

  • Additional fixes for vehicle speed scaling value.

1.4.0 (Compatible with AS ROS Binary Driver Versions 1.4.0 and newer)

  • Increase CAN read and write intervals to prevent dropped messages. 
  • Fixed scaling value for vehicle speed. This impacts the ROS driver topic /vehicle_speed_rpt 
  • Added support for watchdog timer between firmware and ROS driver. If firmware does not receive heartbeat from the PACMod ROS Driver for more than 100mS, drive by wire controls are disabled. Fault notification messages are included in the global report CAN message.
  • Added support for watchdog timer between firmware and actuators. If firmware does not receive heartbeat from the actuators for more than 100mS, drive by wire controls are disabled. Fault notification messages are included in the global report CAN message.


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