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bump opendbc

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pull/27494/head
Shane Smiskol 3 years ago
parent 2dbedb3fcf
commit 03cfc4c80a
2 changed files with 5 additions and 4 deletions
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  1. 2
      opendbc
  2. 7
      selfdrive/car/toyota/toyotacan.py

2
opendbc

@ -1 +1 @@
Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7 Subproject commit 2b67e4c78ae141fc2bd0c37e9d974cb96d6837e9

7
selfdrive/car/toyota/toyotacan.py
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@ -45,10 +45,11 @@ def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, st
"STEER_ANGLE_CMD": apply_steer, "STEER_ANGLE_CMD": apply_steer,
# stock system turns off steering after ~20 frames of override, else torque winds up # stock system turns off steering after ~20 frames of override, else torque winds up
"STEER_REQUEST": steer_req, "LTA_REQUEST": steer_req,
# duplicate # 1 when actively using LTA. 3 when LTA is activated for LKA. 0 when LTA_REQUEST is 0
"STEER_REQUEST_2": steer_req, # TODO: see if 3 gets us any more torque, or better blending, or SOMETHING. EPS_STATUS doesn't change based on this, so maybe it doesn't do anything
"LTA_REQUEST_TYPE": steer_req,
# 1 when STEER_REQUEST changes state (usually) # 1 when STEER_REQUEST changes state (usually)
# except not true on 2023 RAV4. TODO: revisit, could it be UI related? # except not true on 2023 RAV4. TODO: revisit, could it be UI related?

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