Toyota: fix learning bad offsets for some models (#23810)

* Update carstate.py

* comments

* use initializing

* bump opendbc

* bool

* check both

* bump opendbc

* and on TSS-P the initializing bit isn't set
old-commit-hash: a1875ac6f0

opendbc

@@ -1 +1 @@
-Subproject commit 46a942d6790531cf5b94b14266140e43afcfda3e
+Subproject commit f475c355a65eb8050730fe8a1af5ac4b319e1d7f

selfdrive/car/toyota/carstate.py

@@ -19,7 +19,6 @@ class CarState(CarStateBase):
     # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
     # the signal is zeroed to where the steering angle is at start.
     # Need to apply an offset as soon as the steering angle measurements are both received
-    self.needs_angle_offset = True
     self.accurate_steer_angle_seen = False
     self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
 
@@ -58,8 +57,8 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
     torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
 
-    # Some newer models have a more accurate angle measurement in the TORQUE_SENSOR message. Use if non-zero
+    # On some cars, the angle measurement is non-zero while initializing
-    if abs(torque_sensor_angle_deg) > 1e-3:
+    if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):
       self.accurate_steer_angle_seen = True
 
     if self.accurate_steer_angle_seen:
@@ -151,6 +150,7 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
       ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
       ("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
+      ("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"),
       ("TURN_SIGNALS", "BLINKERS_STATE"),
       ("LKA_STATE", "EPS_STATUS"),
       ("AUTO_HIGH_BEAM", "LIGHT_STALK"),