sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Toyota: gate enableGasInterceptor behind openpilotLongitudinalControl

Browse Source
pull/23357/head
cydia2020 3 years ago
parent 92b553be3e
commit a974e8f8cf
1 changed files with 1 additions and 1 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      selfdrive/car/toyota/interface.py

2
selfdrive/car/toyota/interface.py
Unescape View File

@ -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.

Write Preview
Loading…
Cancel
Save