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pull/23635/head
Shane Smiskol 3 years ago
parent 013cccf6a8
commit 8c6587798e
2 changed files with 3 additions and 2 deletions
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  1. 2
      opendbc
  2. 3
      selfdrive/car/toyota/carstate.py

2
opendbc

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

3
selfdrive/car/toyota/carstate.py
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@ -78,7 +78,8 @@ class CarState(CarStateBase):
ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2 ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] 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 # 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.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5) ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)

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