Toyota: make LKAS message 5hz (#26830)

* Toyota: make LKAS message 5hz * update refs --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 1ba590e043
3 years ago · c7bdcf1e0d
parent a1fb5b7e1f
commit c7bdcf1e0d
2 changed files with 2 additions and 2 deletions
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -143,7 +143,7 @@ class CarController:
        # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
        send_ui = True

-      if self.frame % 100 == 0 or send_ui:
+      if self.frame % 20 == 0 or send_ui:
        can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                           hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                           hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-844c84eae269e74b246b039d2b33fd44e98a5b68
+d795362593d935767c694c652ecb05ab80dd1914