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Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en

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Dragonpilot
2019-07-22 16:10:24 +10:00
parent 62afb42240 4419fdc0df
commit 6a284fc24c
2 changed files with 4 additions and 4 deletions
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README.md
+1 -1
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@@ -101,7 +101,7 @@ Supported Cars
| Toyota | Corolla 2017-19 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
selfdrive/car/toyota/carstate.py
+3 -3
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@@ -3,7 +3,7 @@ from common.kalman.simple_kalman import KF1D
from selfdrive.can.parser import CANParser
from selfdrive.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_DSU_CAR
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR
def parse_gear_shifter(gear, vals):
@@ -59,7 +59,7 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]
if CP.carFingerprint in NO_DSU_CAR:
if CP.carFingerprint in TSS2_CAR:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
else:
signals += [("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0)]
@@ -141,7 +141,7 @@ class CarState(object):
self.a_ego = float(v_ego_x[1])
self.standstill = not v_wheel > 0.001
if self.CP.carFingerprint in NO_DSU_CAR:
if self.CP.carFingerprint in TSS2_CAR:
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
else:
self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']