FrogPilot Setup

selfdrive/car/toyota/carcontroller.py

@@ -1,5 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
                           create_gas_interceptor_command, make_can_msg
 from openpilot.selfdrive.car.toyota import toyotacan
@@ -41,7 +42,10 @@ class CarController:
     self.gas = 0
     self.accel = 0
 
-  def update(self, CC, CS, now_nanos):
+    # FrogPilot variables
+    params = Params()
+
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -142,10 +146,12 @@ class CarController:
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
+                         frogpilot_variables))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False,
+                         frogpilot_variables))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.