Toyota safety: block LTA message in TSS2 cars
@@ -206,8 +206,9 @@ static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
if (bus_num == 2) {
int addr = GET_ADDR(to_fwd);
// block stock lkas messages and stock acc messages (if OP is doing ACC)
- int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412));
- // in TSSP 2.0 the camera does ACC as well, so filter 0x343
+ // in TSS2, 0.191 is LTA which we need to block to avoid controls collision
+ int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
+ // in TSS2 the camera does ACC as well, so filter 0x343
int is_acc_msg = (addr == 0x343);
int block_msg = is_lkas_msg || (is_acc_msg && long_controls_allowed);
if (!block_msg) {
