From 192fd05318a786a67b76e0165b94ee242077c709 Mon Sep 17 00:00:00 2001 From: Commaremote <31535535+commaremote@user.noreply.github.com> Date: Mon, 3 Jun 2019 16:06:02 -0700 Subject: [PATCH] Toyota safety: fixed rounding logic --- board/safety/safety_toyota.h | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h index 202625b70d4a7d..7b1a63ecf561a7 100644 --- a/board/safety/safety_toyota.h +++ b/board/safety/safety_toyota.h @@ -40,11 +40,13 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { // scale by dbc_factor torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100; - // increase torque_meas by 1 to be conservative on rounding - torque_meas_new += (torque_meas_new > 0 ? 1 : -1); - // update array of sample update_sample(&toyota_torque_meas, torque_meas_new); + + // increase torque_meas by 1 to be conservative on rounding + toyota_torque_meas.min--; + toyota_torque_meas.max++; + } // enter controls on rising edge of ACC, exit controls on ACC off