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Toyota: delay cancel command send #3673

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Toyota: delay cancel command send #3673

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6 changes: 5 additions & 1 deletion opendbc/car/toyota/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@
# EPS allows user torque above threshold for 50 frames before permanently faulting
MAX_USER_TORQUE = 500

CRUISE_CANCEL_DELAY_FRAMES = 10


def get_long_tune(CP, params):
if CP.flags & ToyotaFlags.TSS2:
Expand All @@ -57,6 +59,7 @@ def __init__(self, dbc_names, CP):
self.permit_braking = True
self.steer_rate_counter = 0
self.distance_button = 0
self.cancel_counter = 0

# *** start long control state ***
self.long_pid = get_long_tune(self.CP, self.params)
Expand All @@ -79,7 +82,8 @@ def update(self, CC, CS, now_nanos):
actuators = CC.actuators
stopping = actuators.longControlState == LongCtrlState.stopping
hud_control = CC.hudControl
pcm_cancel_cmd = CC.cruiseControl.cancel
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
pcm_cancel_cmd = self.cancel_counter > CRUISE_CANCEL_DELAY_FRAMES
lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE

if len(CC.orientationNED) == 3:
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