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Toyota: fix learning bad offsets for some models #23810

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Merged
sshane merged 8 commits into from
Feb 26, 2022
Merged

Toyota: fix learning bad offsets for some models #23810

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0f8cba2
Update carstate.py
sshane Feb 21, 2022
29cc3c6
comments
sshane Feb 21, 2022
3620cf5
use initializing
sshane Feb 21, 2022
bb7aadf
bump opendbc
sshane Feb 21, 2022
d86ec2b
bool
sshane Feb 21, 2022
586b0fe
check both
sshane Feb 23, 2022
fbe0645
bump opendbc
sshane Feb 23, 2022
6ebf18e
and on TSS-P the initializing bit isn't set
sshane Feb 26, 2022
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2 changes: 1 addition & 1 deletion opendbc
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Submodule opendbc updated 4 files
+2 −1 generator/toyota/_toyota_2017.dbc
+2 −1 toyota_new_mc_pt_generated.dbc
+2 −1 toyota_nodsu_pt_generated.dbc
+2 −1 toyota_tnga_k_pt_generated.dbc
6 changes: 3 additions & 3 deletions selfdrive/car/toyota/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@ def __init__(self, CP):
# On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
# the signal is zeroed to where the steering angle is at start.
# Need to apply an offset as soon as the steering angle measurements are both received
self.needs_angle_offset = True
self.accurate_steer_angle_seen = False
self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)

Expand Down Expand Up @@ -58,8 +57,8 @@ def update(self, cp, cp_cam):
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]

# Some newer models have a more accurate angle measurement in the TORQUE_SENSOR message. Use if non-zero
if abs(torque_sensor_angle_deg) > 1e-3:
# On some cars, the angle measurement is non-zero while initializing
if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):
self.accurate_steer_angle_seen = True

if self.accurate_steer_angle_seen:
Expand Down Expand Up @@ -151,6 +150,7 @@ def get_can_parser(CP):
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"),
("TURN_SIGNALS", "BLINKERS_STATE"),
("LKA_STATE", "EPS_STATUS"),
("AUTO_HIGH_BEAM", "LIGHT_STALK"),
Expand Down