From 3e915cf628d24d04843730a9f5f664a20083291a Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 11 Feb 2022 04:54:17 -0800 Subject: [PATCH] controlsd: Fix Toyota steer angle sensor race condition (#23747) * fix steer angle race condition * update ref Co-authored-by: Willem Melching --- selfdrive/car/toyota/carstate.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index df555abf46..d73460ef32 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -64,7 +64,7 @@ class CarState(CarStateBase): if self.accurate_steer_angle_seen: # Offset seems to be invalid for large steering angles - if abs(ret.steeringAngleDeg) < 90: + if abs(ret.steeringAngleDeg) < 90 and cp.can_valid: self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg) if self.angle_offset.initialized: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f30368ac41..50a0c30f83 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3bc128c5b47e036021ccfaab9a9924d61eeb59e2 \ No newline at end of file +0c4da879ace9c1517c2324b35da7ff05a4744dd9 \ No newline at end of file