Improve cluster offset for 7th Gen Lexus ES

2024-02-27 16:34:47 -07:00
parent db5e0191f9
commit e294aa5af8
1 changed files with 4 additions and 1 deletions
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -72,6 +72,9 @@ class CarState(CarStateBase):
    )
    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    if self.CP.carFingerprint == CAR.LEXUS_ES_TSS2:
+      ret.vEgoCluster = ret.vEgo * 1.023456789
+    else:
      ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars

    ret.standstill = abs(ret.vEgoRaw) < 1e-3