From bd1678e71f700126558dfa771544f90fa6d3e406 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 18:06:28 -0600 Subject: [PATCH] Toyota: fix rare panda standstill mismatch (#31232) * fix * clean up * just use 2x lower threshold so we're not on edge again --- selfdrive/car/toyota/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 3a89d655da..2461fa9a26 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -71,7 +71,7 @@ class CarState(CarStateBase): 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 + ret.standstill = abs(ret.vEgoRaw) < 1e-3 ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]