fix not disengaging with gas

priuscom · Jun 10, 2019 · 9d56840 · 9d56840
1 parent 4c68534
commit 9d56840
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -386,7 +386,10 @@ def update(self, cp, cp_cam):
 
     self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
     if self.CP.enableGasInterceptor:
-      self.pedal_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
+      if self.CP.carFingerprint == CAR.COROLLA:
+        self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
+      else:
+        self.pedal_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
     else:
       self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
     self.car_gas = self.pedal_gas