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adaptive cruise can no longer be bypassed on toyota (#2708) 

* adaptive cruise can no longer be bypassed on toyota

* remove TODO
albatross
cydia2020 2021-01-05 00:21:06 +11:00 committed by GitHub
parent ba4fb80e92
commit 378b052343
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1 changed files with 1 additions and 2 deletions
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3
selfdrive/car/toyota/carstate.py
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@ -91,8 +91,7 @@ class CarState(CarStateBase):
else:
ret.cruiseState.standstill = self.pcm_acc_status == 7
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
# TODO: CRUISE_STATE is a 4 bit signal, find any other non-adaptive cruise states
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [5]
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [1, 2, 3, 4, 5, 6]
if self.CP.carFingerprint == CAR.PRIUS:
ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0