commaai
/
opendbc
mirror of https://github.com/maweiyuweiwei/opendbc.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Toyota: fix accel rate limit (#1480) 

use real previous accel
This commit is contained in:
Shane Smiskol 2024-11-13 17:05:20 -06:00 committed by GitHub
parent 34597084d8
commit 5be5b65d6f
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
opendbc/car/toyota/carcontroller.py
View File

@ -48,6 +48,7 @@ class CarController(CarControllerBase):
self.packer = CANPacker(dbc_name)
self.accel = 0
self.prev_accel = 0
self.secoc_lka_message_counter = 0
self.secoc_lta_message_counter = 0
@ -170,7 +171,7 @@ class CarController(CarControllerBase):
self.distance_button = 0
# internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit
pcm_accel_cmd = min(actuators.accel, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0
pcm_accel_cmd = min(actuators.accel, self.prev_accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0
# calculate amount of acceleration PCM should apply to reach target, given pitch
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY if len(CC.orientationNED) == 3 else 0.0
@ -206,6 +207,7 @@ class CarController(CarControllerBase):
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
self.prev_accel = actuators.accel
else:
# we can spam can to cancel the system even if we are using lat only control