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Automatically use Toyota distance button if TSS2 #525

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Automatically use Toyota distance button if TSS2 #525

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59ff17b
add todo
sshane Dec 21, 2021
75509db
UI should initialize long before controlsd in normal conditions
sshane Jan 8, 2022
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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -17,6 +17,7 @@ Want to request a feature or create a bug report? [Open an issue here!](https://
* [**~~Dynamic camera offsetting~~ (removed temporarily)**](#Dynamic-camera-offset-based-on-oncoming-traffic) - moves you over if adjacent lane has oncoming traffic
* [**~~Dynamic gas~~** (no longer needed)](#dynamic-gas) - smoother gas control
* [**~~Adding derivative to PI for better control~~**](#pi---pid-controller-for-long-and-lat) - lat: smoother control in turns; long: fix for comma pedal overshoot
* ***something about changing distance profiles using stock distance button***

### General Features
* [**~~Smoother long control using delay~~ (stock added this!)**](#compensate-for-longitudinal-delay-for-earlier-braking) - using an accel delay, just like for lateral
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3 changes: 3 additions & 0 deletions selfdrive/car/toyota/carstate.py
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Expand Up @@ -36,6 +36,9 @@ def __init__(self, CP):
if self.enable_distance_btn:
# Previously was publishing from UI
self.pm = messaging.PubMaster(['dynamicFollowButton'])
# set param to true for next restart
if self.CP.carFingerprint in TSS2_CAR:
op_params.put('toyota_distance_btn', True)

def update(self, cp, cp_cam):
ret = car.CarState.new_message()
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