From 80b2dc8632509318bf6f695aa54ff2e8bbdcbf93 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Tue, 27 Feb 2024 16:34:47 -0700
Subject: [PATCH] Improve cluster offset for 7th Gen Lexus ES

---
 selfdrive/car/toyota/carstate.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 5d15bde00..2f7d73b83 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -78,7 +78,10 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
+    if self.CP.carFingerprint == CAR.LEXUS_ES_TSS2:
+      ret.vEgoCluster = ret.vEgo * 1.023456789
+    else:
+      ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
 
     ret.standstill = abs(ret.vEgoRaw) < 1e-3