From ebc5be3eb5159d99d6e518acb4454924f886dd8f Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Custom "vEgoCluster" offset for Toyota/Lexus

---
 opendbc_repo/opendbc/car/toyota/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/car/toyota/carstate.py b/opendbc_repo/opendbc/car/toyota/carstate.py
index cde3f940..549915f7 100644
--- a/opendbc_repo/opendbc/car/toyota/carstate.py
+++ b/opendbc_repo/opendbc/car/toyota/carstate.py
@@ -90,7 +90,7 @@ class CarState(CarStateBase):
       cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
       cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
     )
-    ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
+    ret.vEgoCluster = ret.vEgo * frogpilot_toggles.cluster_offset
 
     ret.standstill = abs(ret.vEgoRaw) < 1e-3