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toyota: do not scale the cluster set speed by mph on this car

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The DBC documents BODY_CONTROL_STATE_2.UNITS as 1..4 (1/2 metric, 3/4
imperial), but this 2026 Sienna PRC reports 7. The old check
'is_metric = UNITS in (1, 2)' therefore took the imperial path and multiplied
the km/h cluster figure by CV.MPH_TO_MS, so a 30 km/h set speed was displayed
as 48 km/h (30 * 1.609).

Keep the documented values unchanged and, when UNITS is out of range, derive
speedCluster from cruiseState.speed: PCM_CRUISE_2.SET_SPEED is specified in
km/h by the DBC, so no unit guessing is needed.
This commit is contained in:
Comma Device
2026-09-14 20:52:05 +08:00
parent a3bd2cf438
commit 3cfd764f63
1 changed files with 12 additions and 3 deletions
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opendbc_repo/opendbc/car/toyota/carstate.py
+12 -3
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@@ -149,10 +149,19 @@ class CarState(CarStateBase, CarStateExt):
cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
# UI_SET_SPEED is always non-zero when main is on, hide until first enable
is_metric = cp.vl["BODY_CONTROL_STATE_2"]["UNITS"] in (1, 2)
# The DBC documents UNITS as 1..4 (1/2 metric, 3/4 imperial), but this 2026
# Sienna PRC reports 7 while the cluster is metric. Treating that as
# imperial scaled the km/h figure by the mph factor (30 km/h showed as 48).
# Keep the documented values as-is and fall back to SET_SPEED, which the DBC
# specifies in km/h, whenever UNITS is out of range.
units = cp.vl["BODY_CONTROL_STATE_2"]["UNITS"]
if ret.cruiseState.speed != 0:
conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
if units in (1, 2):
ret.cruiseState.speedCluster = cluster_set_speed * CV.KPH_TO_MS
elif units in (3, 4):
ret.cruiseState.speedCluster = cluster_set_speed * CV.MPH_TO_MS
else:
ret.cruiseState.speedCluster = ret.cruiseState.speed
if self.CP.flags & ToyotaFlags.TSS2 and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
if not (self.CP_SP.flags & ToyotaFlagsSP.SMART_DSU.value):