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fix: add id ox401 to read delta_scaled when position mode is used in … #95

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Merged
igsais merged 1 commit into from
Aug 3, 2026
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fix: add id ox401 to read delta_scaled when position mode is used in … #95

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2 changes: 1 addition & 1 deletion src/arussim/src/arussim_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -908,7 +908,7 @@ void Simulator::receive_can_0()
as_status_ = frame_0_.data[1];
}

else if ((frame_0_.can_id & CAN_EFF_MASK) == 0x601)
else if ((frame_0_.can_id & CAN_EFF_MASK) == 0x401 || (frame_0_.can_id & CAN_EFF_MASK) == 0x601)
{
int32_t delta_scaled = static_cast<int32_t>((frame_0_.data[0] << 24) | (frame_0_.data[1] << 16) | (frame_0_.data[2] << 8) | frame_0_.data[3]);
can_delta_ = static_cast<float>(delta_scaled) / 10000.0f * M_PI / 180.0f / 4.279f;
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