From 1ba590e04389aea21e7e54ad574dfcc91f7cd1e6 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Wed, 1 Feb 2023 10:12:31 +1100 Subject: [PATCH] Toyota: make LKAS message 5hz (#26830) * Toyota: make LKAS message 5hz * update refs --------- Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 6dbdd4b5d9..222cf70613 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -143,7 +143,7 @@ class CarController: # forcing the pcm to disengage causes a bad fault sound so play a good sound instead send_ui = True - if self.frame % 100 == 0 or send_ui: + if self.frame % 20 == 0 or send_ui: can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 51de0f0013..b598524fd7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -844c84eae269e74b246b039d2b33fd44e98a5b68 \ No newline at end of file +d795362593d935767c694c652ecb05ab80dd1914 \ No newline at end of file