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Toyota: log EPS fault from LKA cmd message drop out (#26687)

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* log additional faults

* bump opendbc
old-commit-hash: d3a66015ad99c54b03bc3693857fbea825122208
This commit is contained in:
Shane Smiskol
2022-12-03 02:05:24 -08:00
committed by GitHub
parent bc57172b36
commit 88d2f378d4
2 changed files with 6 additions and 4 deletions
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opendbc
+1 -1
Submodule opendbc updated: 3737675445...94fff4782b
selfdrive/car/toyota/carstate.py
+5 -3
View File
@@ -85,10 +85,12 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
# steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
# steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
# lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
# 17 is a fault from a prolonged high torque delta between cmd and user
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
# 3 is a fault from the lka command message not being received by the EPS
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0