@ -4,7 +4,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command,
from selfdrive . car . toyota . toyotacan import create_steer_command , create_ui_command , \
from selfdrive . car . toyota . toyotacan import create_steer_command , create_ui_command , \
create_accel_command , create_acc_cancel_command , \
create_accel_command , create_acc_cancel_command , \
create_fcw_command
create_fcw_command
from selfdrive . car . toyota . values import Ecu , CAR , STATIC_MSGS , SteerLimitParams
from selfdrive . car . toyota . values import Ecu , CAR , STATIC_MSGS , NO_STOP_TIMER_CAR , SteerLimitParams
from opendbc . can . packer import CANPacker
from opendbc . can . packer import CANPacker
VisualAlert = car . CarControl . HUDControl . VisualAlert
VisualAlert = car . CarControl . HUDControl . VisualAlert
@ -84,7 +84,7 @@ class CarController():
pcm_cancel_cmd = 1
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
# on entering standstill, send standstill request
if CS . out . standstill and not self . last_standstill :
if CS . out . standstill and not self . last_standstill and CS . CP . carFingerprint not in NO_STOP_TIMER_CAR :
self . standstill_req = True
self . standstill_req = True
if CS . pcm_acc_status != 8 :
if CS . pcm_acc_status != 8 :
# pcm entered standstill or it's disabled
# pcm entered standstill or it's disabled