From 970d7346e9ca6e1b665af761c604baf4e82457fd Mon Sep 17 00:00:00 2001 From: herizon1054 Date: Fri, 8 May 2026 00:35:39 +0800 Subject: [PATCH] Update carcontroller.py --- opendbc_repo/opendbc/car/toyota/carcontroller.py | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py index dd58d5bcce..f6d423b598 100644 --- a/opendbc_repo/opendbc/car/toyota/carcontroller.py +++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py @@ -180,13 +180,7 @@ class CarController(CarControllerBase): # TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec torque_wind_down = 100 if lta_active and full_torque_condition else 0 - - # 🌟 豐田原廠 EPS 保護機制：強制鎖死送出的角度不超過 85 度 - # 避免原地打方向盤或過大彎超過 90 度時，引發 PCS 故障報錯 - MAX_SAFE_ANGLE = 85.0 - safe_lta_angle = max(-MAX_SAFE_ANGLE, min(MAX_SAFE_ANGLE, self.last_angle)) - - can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.steer_control_type, safe_lta_angle, + can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.steer_control_type, self.last_angle, lta_active, self.frame // 2, torque_wind_down)) if self.CP.flags & ToyotaFlags.SECOC.value: