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Cydia's Toyota tune

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Co-Authored-By: Irene <12470297+cydia2020@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent c821b28583
commit 0c120333d6
10 changed files with 66 additions and 8 deletions
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5
selfdrive/car/toyota/toyotacan.py
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@@ -33,10 +33,10 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
return packer.make_can_msg("STEERING_LTA", 0, values)
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, frogpilot_variables):
def create_accel_command(packer, accel, accel_raw, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, frogpilot_variables):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
"ACCEL_CMD": accel, # compensated accel command
"ACC_TYPE": acc_type,
"DISTANCE": 0,
"MINI_CAR": lead,
@@ -45,6 +45,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
"ACCEL_CMD_ALT": accel_raw, # raw accel command, pcm uses this to calculate a compensatory force
}
return packer.make_can_msg("ACC_CONTROL", 0, values)