* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)

CHANGELOGS-DEV.md

@@ -18,10 +18,12 @@ dragonpilot 0.7.10.1
 * GENESIS_G70 Optimisation (Thanks to @sebastian4k)
 * HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
-* 加入 Dynamic gas Lite。(感謝 toyboxZ 提供)
-* Added Dynamic Gas Lite. (Thanks to toyboxZ)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
 * 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
 * Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
 
 dragonpilot 0.7.10.0
 ========================

CHANGELOGS-REL.md

@@ -35,10 +35,12 @@ dragonpilot 0.7.10.0
 * GENESIS_G70 Optimisation (Thanks to @sebastian4k)
 * HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
-* 加入 Dynamic gas Lite。(感謝 toyboxZ 提供)
-* Added Dynamic Gas Lite. (Thanks to toyboxZ)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
 * 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
 * Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
 
 dragonpilot 0.7.8
 ========================

CHANGELOGS.md

@@ -2,11 +2,13 @@
 ========================
 * 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
 * Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
 
 2020-11-20 (0.7.10.0)
 ========================
-* 加入 Dynamic gas Lite。(感謝 toyboxZ 提供)
-* Added Dynamic Gas Lite. (Thanks to toyboxZ)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
 
 2020-11-19 (0.7.10.0)
 ========================

cereal/log.capnp

@@ -2145,7 +2145,6 @@ struct Event {
   }
 }
 
-# dp
 struct DragonConf {
   dpThermalStarted @0 :Bool;
   dpThermalOverheat @1 :Bool;
@@ -2211,14 +2210,15 @@ struct DragonConf {
   dpToyotaLdw @61 :Bool;
   dpToyotaSng @62 :Bool;
   dpToyotaLowestCruiseOverride @63 :Bool;
-  dpToyotaLowestCruiseOverrideAt @64 :Float32;
-  dpToyotaLowestCruiseOverrideSpeed @65 :Float32;
-  dpIpAddr @66 :Text;
-  dpCameraOffset @67 :Int8;
-  dpLocale @68 :Text;
-  dpChargingCtrl @69 :Bool;
-  dpChargingAt @70 :UInt8;
-  dpDischargingAt @71 :UInt8;
-  dpIsUpdating @72 :Bool;
-  dpTimebombAssist @73 :Bool;
+  dpToyotaLowestCruiseOverrideVego @64 :Bool;
+  dpToyotaLowestCruiseOverrideAt @65 :Float32;
+  dpToyotaLowestCruiseOverrideSpeed @66 :Float32;
+  dpIpAddr @67 :Text;
+  dpCameraOffset @68 :Int8;
+  dpLocale @69 :Text;
+  dpChargingCtrl @70 :Bool;
+  dpChargingAt @71 :UInt8;
+  dpDischargingAt @72 :UInt8;
+  dpIsUpdating @73 :Bool;
+  dpTimebombAssist @74 :Bool;
 }

common/dp_conf.py

@@ -105,6 +105,7 @@ confs = [
   {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param']},
   {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
   # hyundai

selfdrive/car/toyota/interface.py

@@ -11,6 +11,12 @@ from common.params import Params
 EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
+  def __init__(self, CP, CarController, CarState):
+    super().__init__(CP, CarController, CarState)
+
+    # dp
+    self.dp_cruise_speed = 0.
+
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 3.0
@@ -367,8 +373,16 @@ class CarInterface(CarInterfaceBase):
     # dp
     self.dragonconf = dragonconf
     ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
-    if dragonconf.dpToyotaLowestCruiseOverride and ret.cruiseState.speed < dragonconf.dpToyotaLowestCruiseOverrideAt * CV.KPH_TO_MS:
-      ret.cruiseState.speed = dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS
+    if ret.cruiseState.enabled and dragonconf.dpToyotaLowestCruiseOverride and ret.cruiseState.speed < dragonconf.dpToyotaLowestCruiseOverrideAt * CV.KPH_TO_MS:
+      if dragonconf.dpToyotaLowestCruiseOverrideVego:
+        if self.dp_cruise_speed == 0.:
+          ret.cruiseState.speed = self.dp_cruise_speed = max( dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS,ret.vEgo)
+        else:
+          ret.cruiseState.speed = self.dp_cruise_speed
+      else:
+        ret.cruiseState.speed = dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS
+    else:
+      self.dp_cruise_speed = 0.
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False