set toyota safety param

2 years ago · 5e7d872906
parent c81081fcdc
commit 5e7d872906
1 changed files with 4 additions and 0 deletions
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -222,6 +222,10 @@ class CarInterface(CarInterfaceBase):
                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
    ret.enableGasInterceptor = 0x201 in fingerprint[0]

+    if ret.enableGasInterceptor:
+      print('toyota', 'setting')
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
+
    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)