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Toyota: don't log standstill for NO_STOP_TIMER_CAR (#26733)

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* don't log when no stop timer

* updated comment

* whoops

* subtract tss2, their standstill is real
This commit is contained in:
Shane Smiskol
2022-12-09 03:34:29 -08:00
committed by GitHub
parent 3cc439ce98
commit 137beee556
1 changed files with 4 additions and 2 deletions
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selfdrive/car/toyota/carstate.py
+4 -2
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@@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
class CarState(CarStateBase):
@@ -124,7 +124,9 @@ class CarState(CarStateBase):
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
ret.cruiseState.standstill = self.pcm_acc_status == 7
if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR):
# ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
ret.cruiseState.standstill = self.pcm_acc_status == 7
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)