clean up blending

selfdrive/car/toyota/carcontroller.py

@@ -130,15 +130,12 @@ class CarController:
       can_sends.append(create_steer_command(self.packer, 0, 0))
       # On TSS2 cars, the LTA and STEER_TORQUE_SENSOR messages use relative steering angle signals that start
       # at 0 degrees, so we need to offset the commanded angle as well.
-      can_sends.append(create_lta_steer_command(self.packer, apply_angle,
+      can_sends.append(create_lta_steer_command(self.packer, apply_angle, apply_steer_req, self.op_params))
-                                                CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg,
-                                                CS.out.steeringTorque,
-                                                apply_steer_req, self.op_params))
     else:
       apply_angle = 0
       can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
       if TSS2_CAR:
-        can_sends.append(create_lta_steer_command(self.packer, 0, 0, 0, False, self.op_params))
+        can_sends.append(create_lta_steer_command(self.packer, 0, False, self.op_params))
 
     self.last_angle = apply_angle
     self.last_steer = apply_steer

selfdrive/car/toyota/toyotacan.py

@@ -12,11 +12,9 @@ def create_steer_command(packer, steer, steer_req):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, steer_req, op_params):
+def create_lta_steer_command(packer, apply_steer, steer_req, op_params):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
-  # percentage = interp(abs(driver_torque), [40, 100], [100, 0])
-  # apply_steer = interp(percentage, [-10, 100], [steer_angle, apply_steer])
   values = {
     # seems to actually be 1. Even 1 on 2023 RAV4 2023 (TODO: check from data)
     "SETME_X1": op_params.get("SETME_X1"),