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ZSS support

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Add ZSS support for Toyota Priuses with a Zorro Steering Sensor.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community/dragonpilot
Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 7e7584d8cb
commit f0eef503f3
3 changed files with 37 additions and 0 deletions
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3
selfdrive/car/toyota/interface.py
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@@ -44,6 +44,9 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
if 0x23 in fingerprint[0]: # Detect if ZSS is present
ret.flags |= ToyotaFlags.ZSS.value
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = candidate in TSS2_CAR