From c270f64a07640f5405f1aad092d2a6326bb0c005 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Mon, 28 Oct 2019 12:30:04 +1000 Subject: [PATCH] do not send canError if dragon_toyota_stock_dsu is on --- selfdrive/controls/controlsd.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index de2de2794..d30b2a9ad 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -559,7 +559,10 @@ def controlsd_thread(sm=None, pm=None, can_sock=None): if sm['plan'].radarCanError: events.append(create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if not CS.canValid: - events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) + if dragon_toyota_stock_dsu: + events.append(create_event('pcmDisable', [ET.USER_DISABLE])) + else: + events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) if not sounds_available: events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT])) # if internet_needed: