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fix GSH issue, ISH use better steer angle sensor

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This commit is contained in:
dragonpilot
2019-11-06 11:57:08 +10:00
parent 3c0be0b4cd
commit c8ccddcb8d
1 changed files with 6 additions and 3 deletions
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9
selfdrive/car/toyota/carstate.py
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@@ -45,7 +45,6 @@ def get_can_parser(CP):
("LKA_STATE", "EPS_STATUS", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
@@ -60,6 +59,7 @@ def get_can_parser(CP):
signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
signals.append(("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0))
checks += [
("BRAKE_MODULE", 50),
("GAS_PEDAL_ALT", 50),
@@ -67,6 +67,7 @@ def get_can_parser(CP):
]
else:
signals += [
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
]
checks += [
@@ -84,7 +85,7 @@ def get_can_parser(CP):
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
if CP.carFingerprint in NO_DSU_CAR:
if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
if CP.carFingerprint == CAR.PRIUS:
@@ -172,7 +173,7 @@ class CarState():
if self.CP.carFingerprint in TSS2_CAR:
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
elif self.CP.carFingerprint in NO_DSU_CAR:
elif self.CP.carFingerprint in NO_DSU_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
# cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
# need to apply an offset as soon as the steering angle measurements are both received
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
@@ -223,5 +224,7 @@ class CarState():
self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
if self.CP.carFingerprint == CAR.PRIUS:
self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
elif self.CP.carFingerprint == CAR.LEXUS_ISH:
self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
else:
self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])