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Toyota: clean up alpha long (#3074)

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* toyota: clean up alpha long

* yes we have a test
This commit is contained in:
Shane Smiskol
2026-01-27 20:34:30 -08:00
committed by GitHub
parent b038e6e199
commit 8a25621e97
2 changed files with 5 additions and 5 deletions
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9
opendbc/car/toyota/interface.py
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@@ -106,12 +106,11 @@ class CarInterface(CarInterfaceBase):
# TODO: make an adas dbc file for dsu-less models
ret.radarUnavailable = Bus.radar not in DBC[candidate] or candidate in (NO_DSU_CAR - TSS2_CAR)
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
ret.alphaLongitudinalAvailable = candidate in RADAR_ACC_CAR
# since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
if candidate in RADAR_ACC_CAR:
ret.alphaLongitudinalAvailable = True
# Disabling radar is only supported on TSS2 radar-ACC cars
if alpha_long and candidate in RADAR_ACC_CAR:
if alpha_long:
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
# openpilot longitudinal enabled by default:

1
opendbc/car/toyota/tests/test_toyota.py
View File

@@ -18,6 +18,7 @@ def check_fw_version(fw_version: bytes) -> bool:
class TestToyotaInterfaces:
def test_car_sets(self):
# Angle and radar-ACC cars are always TSS2 cars
assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0
assert len(RADAR_ACC_CAR - TSS2_CAR) == 0