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Toyota: gate enableGasInterceptor behind openpilotLongitudinalControl

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pull/23357/head
cydia2020 4 years ago
parent 92b553be3e
commit a974e8f8cf
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/car/toyota/interface.py

2
selfdrive/car/toyota/interface.py
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@ -255,9 +255,9 @@ class CarInterface(CarInterfaceBase):
# In TSS2 cars the camera does long control # In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw] 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) and (not smartDsu) 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") # 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 ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
# min speed to enable ACC. if car can do stop and go, then set enabling speed # min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. # to a negative value, so it won't matter.

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