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Toyota lat only mode v3 upload #9

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ae6c96b
v2
ntegan1 Feb 21, 2023
e4c52f9
v3
ntegan1 Feb 21, 2023
35382cd
fix
ntegan1 Feb 21, 2023
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2 changes: 1 addition & 1 deletion .gitmodules
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[submodule "panda"]
path = panda
url = ../../commaai/panda.git
url = ../../ntegan1/panda.git
[submodule "opendbc"]
path = opendbc
url = ../../commaai/opendbc.git
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2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 4 files
+5 −2 board/safety.h
+9 −0 board/safety/safety_toyota.h
+4 −0 board/safety_declarations.h
+1 −0 python/__init__.py
5 changes: 4 additions & 1 deletion selfdrive/car/interfaces.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
from abc import abstractmethod, ABC
from typing import Any, Dict, Optional, Tuple, List, Callable

from panda import ALTERNATIVE_EXPERIENCE
from cereal import car
from common.basedir import BASEDIR
from common.conversions import Conversions as CV
Expand Down Expand Up @@ -250,6 +251,7 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
# main off
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
Expand Down Expand Up @@ -299,7 +301,8 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
if not bool(self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.PCM_ALLOW_LKAS_ONLY_MODE):
events.add(EventName.pcmDisable)

return events

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2 changes: 1 addition & 1 deletion selfdrive/car/toyota/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ def update(self, CC, CS, now_nanos):
interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
else:
interceptor_gas_cmd = 0.
pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
pcm_accel_cmd = 0 if not CC.longActive else clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)

# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
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5 changes: 4 additions & 1 deletion selfdrive/controls/controlsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@ def __init__(self, sm=None, pm=None, can_sock=None, CI=None):

# set alternative experiences from parameters
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
self.CP.alternativeExperience = ALTERNATIVE_EXPERIENCE.PCM_ALLOW_LKAS_ONLY_MODE
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

Expand Down Expand Up @@ -580,6 +580,9 @@ def state_control(self, CS):
(not standstill or self.joystick_mode)
CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl

if bool(self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.PCM_ALLOW_LKAS_ONLY_MODE):
CC.longActive = CC.longActive and (CS.cruiseState.enabled)

actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state

Expand Down