Toyota: factor on cluster speed to match dash (#26408)

* add a minimum factort * Update ref_commit
2 years ago · e1001a3036
parent 6c03e093c6
commit e1001a3036
2 changed files with 2 additions and 1 deletions
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@ -54,6 +54,7 @@ class CarState(CarStateBase):
    )
    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
    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

--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-372a67c524342bbf15e22f0caea08d2038973281
+a36f7e2fd922fcadca6f8a3d777f4db787cba016