Toyota: explicitly copy signals to forward (#28157)

* and toyota * only if filled
2 years ago · 3e3d1a7d4b
parent 720df4d150
commit 3e3d1a7d4b
1 changed files with 8 additions and 1 deletions
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@ -99,6 +99,13 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep

  # lane sway functionality
  # not all cars have LKAS_HUD — update with camera values if available
-  values.update(stock_lkas_hud)
+  if len(stock_lkas_hud):
+    values.update({s: stock_lkas_hud[s] for s in [
+      "LANE_SWAY_FLD",
+      "LANE_SWAY_BUZZER",
+      "LANE_SWAY_WARNING",
+      "LANE_SWAY_SENSITIVITY",
+      "LANE_SWAY_TOGGLE",
+    ]})

  return packer.make_can_msg("LKAS_HUD", 0, values)