commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fix

This commit is contained in:
Shane Smiskol 2024-05-13 18:46:08 -07:00
parent e10939c007
commit d2cd7210c3
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
board/safety/safety_toyota.h
View File

@ -260,12 +260,12 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
// check if we should wind down torque
// Use lowest of current sample and 3 msgs ago (60ms for STEER_TORQUE_SENSOR at 50Hz)
int driver_torque = MIN(ABS(driver_torque[0]), ABS(driver_torque[3]));
int driver_torque = MIN(ABS(torque_driver.values[0]), ABS(torque_driver.values[3]));
if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) {
tx = false;
}
int eps_torque = MIN(ABS(torque_meas.min), ABS(torque_meas.max));
int eps_torque = MIN(ABS(torque_meas.values[0]), ABS(torque_meas.values[3]));
if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
tx = false;
}