From 059e4f5730618812221b080c69f83fb36b68c5a7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Nov 2022 23:43:23 -0800 Subject: [PATCH] Toyota: always log cruise standstill (#26586) these cars def are in cruise standstill, no sense to not log --- selfdrive/car/toyota/carstate.py | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 8efb2c79e..dbbb8a6f0 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -6,7 +6,7 @@ from common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR class CarState(CarStateBase): @@ -120,12 +120,7 @@ class CarState(CarStateBase): self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] - if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor: - # ignore standstill in hybrid vehicles, since pcm allows to restart without - # receiving any special command. Also if interceptor is detected - ret.cruiseState.standstill = False - else: - ret.cruiseState.standstill = self.pcm_acc_status == 7 + ret.cruiseState.standstill = self.pcm_acc_status == 7 ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)