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Toyota: explicitly copy signals to forward (#28157)

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* and toyota

* only if filled
old-commit-hash: 3e3d1a7d4b3944bb88ad2f663a1cf1fb2f1f83b2
This commit is contained in:
Shane Smiskol
2023-05-10 14:34:40 -07:00
committed by GitHub
parent c9d56e78a6
commit f8e288ba41
1 changed files with 8 additions and 1 deletions
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selfdrive/car/toyota/toyotacan.py
+8 -1
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@@ -99,6 +99,13 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
# lane sway functionality
# not all cars have LKAS_HUD — update with camera values if available
values.update(stock_lkas_hud)
if len(stock_lkas_hud):
values.update({s: stock_lkas_hud[s] for s in [
"LANE_SWAY_FLD",
"LANE_SWAY_BUZZER",
"LANE_SWAY_WARNING",
"LANE_SWAY_SENSITIVITY",
"LANE_SWAY_TOGGLE",
]})
return packer.make_can_msg("LKAS_HUD", 0, values)