From 9e8698df9c014ea57c77502362810fa906be1bed Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 Dec 2022 19:19:20 -0800 Subject: [PATCH] set safety param --- selfdrive/car/toyota/interface.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 401117ce13..affb227ee8 100644 --- 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