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Toyota LTA: prevent high driver torque fault (#28850)

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LTA also suffers from this fault
old-commit-hash: 54ca26ab26
beeps
Shane Smiskol 2 years ago committed by GitHub
parent ca10c50d37
commit 483dcfbec4
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/car/toyota/carcontroller.py

4
selfdrive/car/toyota/carcontroller.py
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@ -81,7 +81,7 @@ class CarController:
# Angular rate limit based on speed # Angular rate limit based on speed
apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params) apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)
if not CC.latActive: if not lat_active:
apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE) self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE)
@ -93,7 +93,7 @@ class CarController:
# on consecutive messages # on consecutive messages
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req)) can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
lta_active = CC.latActive and self.CP.steerControlType == SteerControlType.angle lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2)) can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2))
# *** gas and brake *** # *** gas and brake ***

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