From f9c9b96e277fca47acf80a9125094fabe34331b9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Nov 2022 00:03:23 -0800 Subject: [PATCH] Toyota: add hysteresis to cluster speed (#26386) * add hysteresis to cluster speed * add minimum cluster scaling * fix * Update ref_commit old-commit-hash: 52a644e6564582632559255230c82b550db50c76 --- selfdrive/car/toyota/carstate.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 4758149916..a959633281 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -15,6 +15,8 @@ class CarState(CarStateBase): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"] self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100. + self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2. + self.cluster_min_speed = CV.KPH_TO_MS / 2. # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] # the signal is zeroed to where the steering angle is at start. diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3120b8a7cf..08eb063d41 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cf8700aa252d55d4d5b9f5bec136e34151c2de61 \ No newline at end of file +caa8fb2a046a6c2c186e66af339212a5fae6b7a4