From 8f824f3b1621568ed132697966d88ce6fd7e29df Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Thu, 28 Oct 2021 05:29:34 +1100 Subject: [PATCH] Toyota: gate enableDsu on no smartDSU (#22711) old-commit-hash: 944578ad0944cbcada4d69d0534475a525a365dd --- selfdrive/car/toyota/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 7453bda0d7..643876af11 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -302,7 +302,7 @@ class CarInterface(CarInterfaceBase): smartDsu = 0x2FF in fingerprint[0] # In TSS2 cars the camera does long control found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) + ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu) ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR