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Toyota: whitelist hybrids for standstill resume behaviour (#36996)

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tioyota
This commit is contained in:
Shane Smiskol
2026-01-15 14:38:43 -08:00
committed by GitHub
parent 1252188b4b
commit 5e4b88201e
1 changed files with 2 additions and 1 deletions
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3
selfdrive/car/car_specific.py
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@@ -2,6 +2,7 @@ from cereal import car, log
from opendbc.car import DT_CTRL, structs
from opendbc.car.car_helpers import interfaces
from opendbc.car.interfaces import MAX_CTRL_SPEED
from opendbc.car.toyota.values import ToyotaFlags
from openpilot.selfdrive.selfdrived.events import Events
@@ -58,7 +59,7 @@ class CarSpecificEvents:
# TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
if self.CP.openpilotLongitudinalControl:
# Only can leave standstill when planner wants to move
if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value):
events.add(EventName.resumeRequired)
if CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)