parent
7466ad6802
commit
a99a55ce2b
2
panda
2
panda
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@ -1 +1 @@
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Subproject commit c416419c162c3ac9f52ff1868d6d691c2a57a0ce
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Subproject commit 7d9fdd1108ae1c8136a527d1369d25bb890783fb
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@ -3,8 +3,8 @@ from common.numpy_fast import clip
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from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command, make_can_msg
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from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
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create_accel_command, create_acc_cancel_command, \
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create_fcw_command
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from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, CarControllerParams
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create_fcw_command, create_lta_steer_command
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from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, CarControllerParams
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from opendbc.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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@ -99,6 +99,8 @@ class CarController():
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# on consecutive messages
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if Ecu.fwdCamera in self.fake_ecus:
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can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
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if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
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can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
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# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
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# if frame % 2 == 0:
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