From c7cd8b445900a4f113f0b4d7059161e20c19d828 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 22 Mar 2018 23:13:23 +0100 Subject: [PATCH] fix bug in canpacker for Toyotas with DSU connected (#221) --- selfdrive/car/toyota/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 691cc3dd3c069f..6aead7ba27d3b9 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -85,7 +85,7 @@ def ipas_state_transition(steer_angle_enabled, enabled, ipas_state, ipas_reset_c if ipas_reset_counter > 10: # try every 0.1s steer_angle_enabled = False return steer_angle_enabled, ipas_reset_counter - + else: return False, 0 @@ -200,7 +200,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, if ECU.DSU in self.fake_ecus: can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req)) else: - can_sends.append(create_accel_command(0, pcm_cancel_cmd, False)) + can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False)) if frame % 10 == 0 and ECU.CAM in self.fake_ecus: for addr in TARGET_IDS: