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Toyota: always learn offset to accurate steer angle sensor (#20087)

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This commit is contained in:
Shane Smiskol
2021-02-16 04:21:39 -06:00
committed by GitHub
parent 34ff2951d4
commit 156f9273fc
1 changed files with 3 additions and 3 deletions
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selfdrive/car/toyota/carstate.py
+3 -3
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@@ -16,10 +16,10 @@ class CarState(CarStateBase):
# All TSS2 car have the accurate sensor
self.accurate_steer_angle_seen = CP.carFingerprint in TSS2_CAR
# On NO_DSU cars but not TSS2 cars the cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
# is zeroed to where the steering angle is at start.
# On cars with cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
# the signal is zeroed to where the steering angle is at start.
# Need to apply an offset as soon as the steering angle measurements are both received
self.needs_angle_offset = CP.carFingerprint not in TSS2_CAR
self.needs_angle_offset = True
self.angle_offset = 0.
def update(self, cp, cp_cam):