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ISH to use better steer angle sensor

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dragonpilot
2019-09-30 11:42:06 +10:00
parent 1d2ea64938
commit c9d8833dfe
1 changed files with 2 additions and 2 deletions
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selfdrive/car/toyota/carstate.py
+2 -2
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@@ -183,9 +183,9 @@ class CarState(object):
self.a_ego = float(v_ego_x[1])
self.standstill = not v_wheel > 0.001
if self.CP.carFingerprint in TSS2_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
if self.CP.carFingerprint in TSS2_CAR:
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
elif self.CP.carFingerprint in NO_DSU_CAR:
elif self.CP.carFingerprint in NO_DSU_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
# cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
# need to apply an offset as soon as the steering angle measurements are both received
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset