From 00ef925901aca15b3ac9a55f66e7129b230d95f0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Aug 2022 13:51:10 -0700 Subject: [PATCH] Toyota: same standstill check as panda (#25570) * Same standstill check as panda * test honda in the same place * bump panda * bump panda * bump panda * bump to master * bump panda old-commit-hash: b34fe711b05d444300a9b8ed9cbb70ee35932699 --- panda | 2 +- selfdrive/car/tests/test_models.py | 5 +++-- selfdrive/car/toyota/carstate.py | 2 +- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 1776165a3d..6d2e2bde86 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1776165a3d902d6320965b6b6b1715bb9a25915b +Subproject commit 6d2e2bde861a237593740526b466d17d43849a17 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index edfa07a8c5..cc7d3da874 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -234,6 +234,9 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available + if self.CP.carName in ("honda", "toyota"): + # TODO: fix standstill mismatches for other makes + checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() # TODO: remove this exception once this mismatch is resolved brake_pressed = CS.brakePressed @@ -263,8 +266,6 @@ class TestCarModelBase(unittest.TestCase): if self.CP.carName == "honda": checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on() - # TODO: fix standstill mismatches for other makes - checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() CS_prev = CS diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 843e7806dc..70ba690aa1 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -53,7 +53,7 @@ class CarState(CarStateBase): ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.001 + ret.standstill = ret.vEgoRaw == 0 ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]