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Disable openpilot longitudinal control

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Added toggle to disable openpilot longitudinal control.
This commit is contained in:
FrogAi
2024-03-15 21:05:18 -07:00
parent a5412fdba2
commit 284b26b9eb
10 changed files with 23 additions and 10 deletions
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selfdrive/car/toyota/interface.py
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@@ -251,6 +251,7 @@ class CarInterface(CarInterfaceBase):
# - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
ret.openpilotLongitudinalControl &= not params.get_bool("DisableOpenpilotLongitudinal")
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl