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This commit is contained in:
FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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2
selfdrive/car/toyota/carstate.py
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@@ -208,7 +208,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
if self.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
lkas_pressed = any(self.lkas_hud.get(key) == 1 for key in message_keys)
if lkas_pressed and not self.lkas_previously_pressed:

4
selfdrive/car/toyota/interface.py
View File

@@ -236,11 +236,11 @@ class CarInterface(CarInterfaceBase):
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
ret.experimentalLongitudinalAvailable = use_sdsu
ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
if not use_sdsu:
# Disabling radar is only supported on TSS2 radar-ACC cars
if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet
if experimental_long and candidate in RADAR_ACC_CAR:
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
else:
use_sdsu = use_sdsu and experimental_long