From c9d8833dfee356a555e5346beae250abded99874 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Mon, 30 Sep 2019 11:42:06 +1000 Subject: [PATCH] ISH to use better steer angle sensor --- selfdrive/car/toyota/carstate.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index e7eb1771c..4f336a359 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -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