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controlsd: Fix Toyota steer angle sensor race condition (#23747)

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* fix steer angle race condition

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Vivek Aithal
2022-02-11 04:54:17 -08:00
committed by GitHub
parent f03549c276
commit 3e915cf628
2 changed files with 2 additions and 2 deletions
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selfdrive/car/toyota/carstate.py
+1 -1
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@@ -64,7 +64,7 @@ class CarState(CarStateBase):
if self.accurate_steer_angle_seen: if self.accurate_steer_angle_seen:
# Offset seems to be invalid for large steering angles # Offset seems to be invalid for large steering angles
if abs(ret.steeringAngleDeg) < 90: if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg) self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
if self.angle_offset.initialized: if self.angle_offset.initialized:
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
3bc128c5b47e036021ccfaab9a9924d61eeb59e2 0c4da879ace9c1517c2324b35da7ff05a4744dd9