use scaling

opendbc

@@ -1 +1 @@
-Subproject commit e2acd0794c1e4c080231a9c2f85bbbc9dc423d34
+Subproject commit d4a4614e0639d3fa79bd03377e6a61db48b57f17

selfdrive/car/toyota/carstate.py

@@ -78,7 +78,8 @@ class CarState(CarStateBase):
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
-    ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"]
+    ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * \
+                            (self.CP.safetyConfigs[0].safetyParam / 100.)
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
     ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)