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Toyota: always send ACC at 33 Hz (#1390) 

* ACC always 33hz

* switch

* simpler

* not here
This commit is contained in:
Shane Smiskol 2024-11-06 18:37:07 -06:00 committed by GitHub
parent f090bf6fa2
commit 2d08eded7a
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1 changed files with 18 additions and 17 deletions
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35
opendbc/car/toyota/carcontroller.py
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@ -191,31 +191,32 @@ class CarController(CarControllerBase):
# handle UI messages
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# we can spam can to cancel the system even if we are using lat only control
if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
if self.CP.openpilotLongitudinalControl:
if self.frame % 3 == 0:
# Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
desired_distance = 4 - hud_control.leadDistanceBars
if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance:
self.distance_button = not self.distance_button
else:
self.distance_button = 0
# Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
desired_distance = 4 - hud_control.leadDistanceBars
if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance:
self.distance_button = not self.distance_button
else:
self.distance_button = 0
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
# internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit
pcm_accel_cmd = min(pcm_accel_cmd, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
CS.acc_type, fcw_alert, self.distance_button))
self.accel = pcm_accel_cmd
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button))
else:
# we can spam can to cancel the system even if we are using lat only control
if pcm_cancel_cmd:
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button))
# *** hud ui ***
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: