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Toyota: fill steerFaultPermanent (#24410)

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* Toyota: fill steerFaultPermanent

* same behavior as before, 0 is also fault (0 is most likely initializing)

* think this was just wrong (2 or 10 would mean we think it's a fault)
This commit is contained in:
Shane Smiskol
2022-05-06 16:56:40 -07:00
committed by GitHub
parent ed3be29bfa
commit c955e273d4
2 changed files with 5 additions and 5 deletions
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selfdrive/car/toyota/carcontroller.py
+1 -2
View File
@@ -54,8 +54,7 @@ class CarController:
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
self.steer_rate_limited = new_steer != apply_steer
# Cut steering while we're in a known fault state (2s)
if not CC.latActive or CS.steer_state in (9, 25):
if not CC.latActive:
apply_steer = 0
apply_steer_req = 0
else:
selfdrive/car/toyota/carstate.py
+4 -3
View File
@@ -82,7 +82,10 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
# steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
# 17 is a fault from a prolonged high torque delta between cmd and user
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@@ -120,8 +123,6 @@ class CarState(CarStateBase):
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)