fix steering error for toyota pedal users

dylanl321 · Apr 24, 2019 · 6a9a623 · 6a9a623
1 parent fa0e3a1
commit 6a9a623
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -404,7 +404,10 @@ def update(self, cp, cp_cam):
 
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
-    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5, 9, 17, 25]
+    if self.CP.enableGasInterceptor:
+      self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 3, 5, 9, 17, 25]
+    else:
+      self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5, 9, 17, 25]
     self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']