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Nissan: cluster speed alignment fix #3173

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Nissan: cluster speed alignment fix #3173

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1d89e1a
Add -1 offset to SET_SPEED
Sathans Mar 4, 2026
fa61e14
Correct speedCluster calculation in carstate.py
Sathans Mar 4, 2026
5531af9
Merge branch 'master' into Nissan-speed-fix
Sathans Mar 19, 2026
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2 changes: 1 addition & 1 deletion opendbc/car/nissan/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ def update(self, can_parsers) -> structs.CarState:
else:
conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
ret.cruiseState.speed = speed * conversion
ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus
ret.cruiseState.speedCluster = speed * conversion

if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
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2 changes: 1 addition & 1 deletion opendbc/dbc/generator/nissan/_nissan_common.dbc
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Expand Up @@ -47,7 +47,7 @@ BO_ 689 PROPILOT_HUD: 8 XXX
SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
SG_ SET_SPEED : 39|8@0+ (1,-1) [0|255] "" XXX
SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
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