set safety param

3 years ago · 9e8698df9c
parent df7d0aa5d7
commit 9e8698df9c
1 changed files with 2 additions and 0 deletions
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -209,6 +209,8 @@ class CarInterface(CarInterfaceBase):

    if not ret.openpilotLongitudinalControl:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
+    if ret.steerControlType == car.CarParams.SteerControlType.angle:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA

    # we can't use the fingerprint to detect this reliably, since
    # the EV gas pedal signal can take a couple seconds to appear