From b791068dd5a2b516834bcde8bbafeed2857dad85 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 26 Jun 2023 12:52:06 -0700 Subject: [PATCH] try this --- selfdrive/car/toyota/interface.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index a5ee1f5f01..f094ec11d5 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -219,7 +219,15 @@ class CarInterface(CarInterfaceBase): # cars w/ smart-DSU installed. # cars w/ DSU disconnected. # tss2 cars but ACC CMD is not coming from radar. + ret.openpilotLongitudinalControl = ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + if candidate in RADAR_ACC_CAR: + # On TSS2 radar-based ACC cars, the SDSU is a filter on the ACC_CONTROL message from the radar + ret.openpilotLongitudinalControl = ret.experimentalLongitudinalAvailable and experimental_long + else: + # On these cars, the SDSU filters the ACC_CONTROL message from the DSU + ret.openpilotLongitudinalControl = ret.openpilotLongitudinalControl or bool(ret.flags & ToyotaFlags.SMART_DSU) ret.openpilotLongitudinalControl = (experimental_long and ret.experimentalLongitudinalAvailable) or bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR