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Toyota: fix rare panda standstill mismatch (#31232)

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* fix

* clean up

* just use 2x lower threshold so we're not on edge again
old-commit-hash: bd1678e71f700126558dfa771544f90fa6d3e406
This commit is contained in:
Shane Smiskol
2024-01-30 18:06:28 -06:00
committed by GitHub
parent f99c674341
commit fa99682e32
1 changed files with 1 additions and 1 deletions
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selfdrive/car/toyota/carstate.py
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@@ -71,7 +71,7 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars
ret.standstill = ret.vEgoRaw == 0
ret.standstill = abs(ret.vEgoRaw) < 1e-3
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]