Change lkas_status to green or white only

keyeh · Oct 14, 2024 · cda06b8 · cda06b8
1 parent 19b54a2
commit cda06b8
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
@@ -233,10 +233,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
         send_ui = True
 
       if self.frame % 20 == 0 or send_ui:
-        lat_available = frogpilot_toggles.always_on_lateral and CS.out.cruiseState.available # TODO: and not "always_on_lateral_disabled" by LTA button
         can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                                      hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-                                                     hud_control.rightLaneDepart, lat_available, CS.lkas_hud, lat_active, CS.out.steeringPressed))
+                                                     hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud, lat_active, CS.out.steeringPressed))
 
       if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
         can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))

diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
@@ -96,15 +96,15 @@ def create_fcw_command(packer, fcw):
   return packer.make_can_msg("PCS_HUD", 0, values)
 
 
-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, lat_available, stock_lkas_hud, lat_active, steeringPressed):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud, lat_active, steeringPressed):
   values = {
     "TWO_BEEPS": chime,
     "LDA_ALERT": steer,
     # Lines: 3 "orange", 2 "faded", 1 "solid", 0 "none";
     "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
     "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
     "BARRIERS": 1 if lat_active and not steeringPressed else 0,
-    "LKAS_STATUS": 2 if lat_active and not steeringPressed else 1 if lat_available else 0,
+    "LKAS_STATUS": 2 if lat_active else 0,
 
     # static signals
     "SET_ME_X02": 2,