From d22d8b6127efda52d03437a72a51dd95a4e6141f Mon Sep 17 00:00:00 2001 From: Casey Francis <> Date: Wed, 22 Jun 2022 10:18:45 -0700 Subject: [PATCH] this was renamed oops i forgot Co-Authored-By: Comma Device Co-Authored-By: Willem Melching --- selfdrive/car/toyota/carstate.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 1dec40ec553be2..c1c95c0409387b 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -87,9 +87,9 @@ def update(self, cp, cp_cam): # we could use the override bit from dbc, but it's triggered at too high torque values ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds - ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25) + ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25) # 17 is a fault from a prolonged high torque delta between cmd and user - ret.steerError = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17 + ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17 if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0