From ab5e2b66e81e07e5822c5d0992d1bad28b310e60 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 18:27:30 -0800 Subject: [PATCH] Toyota: factor on cluster speed to match dash (#26408) * add a minimum factort * Update ref_commit old-commit-hash: e1001a3036fb93d6d0340d139d4ae2a1f2419d52 --- selfdrive/car/toyota/carstate.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index a959633281..8efb2c79e3 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -54,6 +54,7 @@ class CarState(CarStateBase): ) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars ret.standstill = ret.vEgoRaw == 0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index da954d76a6..cac678ca1f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -372a67c524342bbf15e22f0caea08d2038973281 +a36f7e2fd922fcadca6f8a3d777f4db787cba016