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Send LTA msg on TSS2+ Toyotas (#19731)

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* send blank lta msg on tss2+

* bump panda
old-commit-hash: a99a55ce2b
This commit is contained in:
Adeeb Shihadeh
2021-04-06 17:13:33 -07:00
committed by GitHub
parent 24c8b90e86
commit 3e620dfc5b
2 changed files with 5 additions and 3 deletions
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2
panda

Submodule panda updated: c416419c16...7d9fdd1108

6
selfdrive/car/toyota/carcontroller.py
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@@ -3,8 +3,8 @@ from common.numpy_fast import clip
from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command, make_can_msg
from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
create_accel_command, create_acc_cancel_command, \
create_fcw_command
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, CarControllerParams
create_fcw_command, create_lta_steer_command
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, CarControllerParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -99,6 +99,8 @@ class CarController():
# on consecutive messages
if Ecu.fwdCamera in self.fake_ecus:
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
# if frame % 2 == 0: