Toyota: gate enableDsu on no smartDSU (#22711)

4 years ago · 944578ad09
parent 999b2ee5cc
commit 944578ad09
1 changed files with 1 additions and 1 deletions
--- 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