From 378b052343a80a7b29e54276c4ab121138cfeaeb Mon Sep 17 00:00:00 2001
From: cydia2020 <12470297+cydia2020@users.noreply.github.com>
Date: Tue, 5 Jan 2021 00:21:06 +1100
Subject: [PATCH] adaptive cruise can no longer be bypassed on toyota (#2708)

* adaptive cruise can no longer be bypassed on toyota

* remove TODO
---
 selfdrive/car/toyota/carstate.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 617a2f83ba..32474025f3 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -91,8 +91,7 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    # TODO: CRUISE_STATE is a 4 bit signal, find any other non-adaptive cruise states
-    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [5]
+    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [1, 2, 3, 4, 5, 6]
 
     if self.CP.carFingerprint == CAR.PRIUS:
       ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0