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fixed zss crashing lexus IS

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This commit is contained in:
Rick Lan
2024-07-15 13:18:10 +08:00
parent c25d768a9e
commit bcaf05d542
1 changed files with 5 additions and 1 deletions
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selfdrive/car/toyota/carstate.py
+5 -1
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@@ -94,7 +94,11 @@ class CarState(CarStateBase):
torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
# dp - zss controller
ret.steeringAngleDeg = self.zssc.get_steering_angle_deg(cp.vl["PCM_CRUISE_2"]["MAIN_ON"], cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"], ret.steeringAngleDeg)
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
main_on = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
else:
main_on = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
ret.steeringAngleDeg = self.zssc.get_steering_angle_deg(main_on, cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"], ret.steeringAngleDeg)
# On some cars, the angle measurement is non-zero while initializing
if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):