bump opendbc

3 years ago · 03cfc4c80a
parent 2dbedb3fcf
commit 03cfc4c80a
2 changed files with 5 additions and 4 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7
+Subproject commit 2b67e4c78ae141fc2bd0c37e9d974cb96d6837e9
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@ -45,10 +45,11 @@ def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, st
    "STEER_ANGLE_CMD": apply_steer,

    # stock system turns off steering after ~20 frames of override, else torque winds up
-    "STEER_REQUEST": steer_req,
+    "LTA_REQUEST": steer_req,

-    # duplicate
-    "STEER_REQUEST_2": steer_req,
+    # 1 when actively using LTA. 3 when LTA is activated for LKA. 0 when LTA_REQUEST is 0
+    # 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)
    # except not true on 2023 RAV4. TODO: revisit, could it be UI related?