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fix bug in canpacker for Toyotas with DSU connected (#221)

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pull/222/head
Willem Melching 7 years ago committed by rbiasini
parent 3d628a6fe2
commit c7cd8b4459
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/car/toyota/carcontroller.py

4
selfdrive/car/toyota/carcontroller.py
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@ -85,7 +85,7 @@ def ipas_state_transition(steer_angle_enabled, enabled, ipas_state, ipas_reset_c
if ipas_reset_counter > 10: # try every 0.1s if ipas_reset_counter > 10: # try every 0.1s
steer_angle_enabled = False steer_angle_enabled = False
return steer_angle_enabled, ipas_reset_counter return steer_angle_enabled, ipas_reset_counter
else: else:
return False, 0 return False, 0
@ -200,7 +200,7 @@ class CarController(object):
if ECU.DSU in self.fake_ecus: if ECU.DSU in self.fake_ecus:
can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req)) can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req))
else: else:
can_sends.append(create_accel_command(0, pcm_cancel_cmd, False)) can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))
if frame % 10 == 0 and ECU.CAM in self.fake_ecus: if frame % 10 == 0 and ECU.CAM in self.fake_ecus:
for addr in TARGET_IDS: for addr in TARGET_IDS:

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