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Toyota: same standstill check as panda (#25570)

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* Same standstill check as panda

* test honda in the same place

* bump panda

* bump panda

* bump panda

* bump to master

* bump panda
This commit is contained in:
Shane Smiskol
2022-08-31 13:51:10 -07:00
committed by GitHub
parent 272b6cc8c3
commit b34fe711b0
3 changed files with 5 additions and 4 deletions
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2
panda

Submodule panda updated: 1776165a3d...6d2e2bde86

5
selfdrive/car/tests/test_models.py
View File

@@ -234,6 +234,9 @@ class TestCarModelBase(unittest.TestCase):
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
if self.CP.carName in ("honda", "toyota"):
# TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
# TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed
@@ -263,8 +266,6 @@ class TestCarModelBase(unittest.TestCase):
if self.CP.carName == "honda":
checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
# TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
CS_prev = CS

2
selfdrive/car/toyota/carstate.py
View File

@@ -53,7 +53,7 @@ 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.standstill = ret.vEgoRaw < 0.001
ret.standstill = ret.vEgoRaw == 0
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]