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Use standard steer angle sensor in DSU-less pre-TSS2 Toyota. (#751)

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rbiasini
2019-07-20 23:21:50 -07:00
committed by GitHub
parent be28530ee4
commit 63da1abe2c
1 changed files with 3 additions and 3 deletions
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6
selfdrive/car/toyota/carstate.py
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@@ -3,7 +3,7 @@ from common.kalman.simple_kalman import KF1D
from selfdrive.can.parser import CANParser
from selfdrive.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_DSU_CAR
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR
def parse_gear_shifter(gear, vals):
@@ -59,7 +59,7 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]
if CP.carFingerprint in NO_DSU_CAR:
if CP.carFingerprint in TSS2_CAR:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
else:
signals += [("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0)]
@@ -141,7 +141,7 @@ class CarState(object):
self.a_ego = float(v_ego_x[1])
self.standstill = not v_wheel > 0.001
if self.CP.carFingerprint in NO_DSU_CAR:
if self.CP.carFingerprint in TSS2_CAR:
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
else:
self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']