Merge pull request #28 from zorrobyte/patch-1

Was wrong about safetyparam

Author: Gernby

opendbc/toyota_prius_2017_pt_generated.dbc

@@ -314,7 +314,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.55,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

selfdrive/car/toyota/interface.py

@@ -70,7 +70,7 @@ def get_params(candidate, fingerprint, vin="", is_panda_black=False):
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
-      ret.safetyParam = 55  # see conversion factor for STEER_TORQUE_EPS in dbc file
+      ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
       ret.steerRatio = 14.0   # unknown end-to-end spec
       tire_stiffness_factor = 0.725   # hand-tune