From 9d56840fc8be174c4f87009cd53a7a120fc443a6 Mon Sep 17 00:00:00 2001 From: Shane Date: Mon, 10 Jun 2019 14:29:27 -0500 Subject: [PATCH] fix not disengaging with gas --- selfdrive/car/toyota/carstate.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 7112ae15c229ab..a4986896b89584 100644 --- 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