      ret.gasPressed = ret.gas > 1e-5
  
      ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
  
      ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"]
      ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"]
      ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"]
      ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"]
      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
      ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
      ret.standstill = not ret.vEgoRaw > 0.001
  
      ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
 
</s> remove     ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"] * WHEEL_RADIUS
    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"] * WHEEL_RADIUS
    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"] * WHEEL_RADIUS
    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"] * WHEEL_RADIUS
 </s> add     ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"],
      cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"],
      cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"],
      cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"],
      unit=WHEEL_RADIUS,
    ) </s> remove     speed_factor = SPEED_FACTOR.get(self.CP.carFingerprint, 1.)
    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS * speed_factor
    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS * speed_factor
    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS * speed_factor
    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS * speed_factor
    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr)/4.
 </s> add     ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
    )
    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0 </s> remove     ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"] * CV.KPH_TO_MS
    ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"] * CV.KPH_TO_MS
    ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"] * CV.KPH_TO_MS
    ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"] * CV.KPH_TO_MS
 </s> add     ret.wheelSpeeds = self.get_wheel_speeds(
      pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
      pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
      pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
      pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
    ) </s> remove     ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * speed_factor + v_weight * v_wheel
 </s> add     ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
    ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
      unit=1,
    )
      ret.gasPressed = ret.gas > 1e-5
  
      ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
  
    ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
      unit=1,
    )
    ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
      unit=1,
    )
    ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
      unit=1,
    )
    ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
      unit=1,
    )
      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
      ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
      ret.standstill = not ret.vEgoRaw > 0.001
  
      ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
keep keep keep keep replace replace replace replace keep keep keep keep keep
 add CarParams.wheelSpeedFactor (#23079)

* add CarParams.wheelSpeedFactor

* Fudge speed for Lexus RX

* should have been the TSS2 model

* bump cereal

* refactor into function

* update refs 
selfdrive/car/chrysler/carstate.py