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Toyota: make LKAS message 5hz (#26830)

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* Toyota: make LKAS message 5hz

* update refs

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
pull/26943/head
cydia2020 2 years ago committed by GitHub
parent 0402e94927
commit 1ba590e043
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2 changed files with 2 additions and 2 deletions
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  1. 2
      selfdrive/car/toyota/carcontroller.py
  2. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/car/toyota/carcontroller.py
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@ -143,7 +143,7 @@ class CarController:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True 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, can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
844c84eae269e74b246b039d2b33fd44e98a5b68 d795362593d935767c694c652ecb05ab80dd1914
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