From 507f4209273246b3c7bef7538a4dbdb72958d634 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 15 Dec 2025 19:19:41 -0800 Subject: [PATCH] Toyota: prevent roll in ICE after pressing resume while wanting to stay stopped (#36877) * bump * only show alert when user can leave standstill * cmt * stash * bump * bump to master --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 4bd6ffea21..39773a987e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4bd6ffea2174f3c0fa01f728d612c0c9498b0b05 +Subproject commit 39773a987eaefd680c6befa390d7898945daf2e7 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 9e166a44d7..6210983d97 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -90,7 +90,8 @@ class CarSpecificEvents: events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears) if self.CP.openpilotLongitudinalControl: - if CS.cruiseState.standstill and not CS.brakePressed: + # Only can leave standstill when planner wants to move + if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume: events.add(EventName.resumeRequired) if CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed)