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Toyota: Enforce stock longitudinal control

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This commit is contained in:
Jason Wen
2023-02-06 19:04:54 -05:00
parent 31483d18fd
commit ecd3e902ad
1 changed files with 2 additions and 1 deletions
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selfdrive/car/toyota/interface.py
+2 -1
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@@ -1,6 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from common.conversions import Conversions as CV
from common.params import Params
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config, create_mads_event
@@ -203,7 +204,7 @@ class CarInterface(CarInterfaceBase):
ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
ret.openpilotLongitudinalControl = (smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)) and not Params().get_bool("StockLongToyota")
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl: