From a0d132c6e2a9aaa9b45d4a392a45ce59e19b7178 Mon Sep 17 00:00:00 2001
From: Rick Lan <efinilan@gmail.com>
Date: Wed, 25 Mar 2020 21:24:07 +1000
Subject: [PATCH] do not allow stock_dsu mode on reverse/park/neutural gear

---
 selfdrive/car/toyota/carstate.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a74b566f4..57e416407 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -132,6 +132,8 @@ class CarState(CarStateBase):
 
     if self.dragon_toyota_stock_dsu and ret.cruiseState.available:
       enable_acc = True
+      if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park, car.CarState.GearShifter.neutral]:
+        enable_acc = False
       if ret.seatbeltUnlatched or ret.doorOpen:
         enable_acc = False
       ret.cruiseState.enabled = enable_acc