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Toyota: set pcm_accel_net when possible (#1448) 

set always
This commit is contained in:
Shane Smiskol 2024-11-06 16:58:04 -06:00 committed by GitHub
parent df8fe2299a
commit 6be3d04493
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GPG Key ID: B5690EEEBB952194
1 changed files with 3 additions and 3 deletions
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6
opendbc/car/toyota/carstate.py
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@ -8,7 +8,7 @@ from opendbc.car.common.filter_simple import FirstOrderFilter
from opendbc.car.common.numpy_fast import mean
from opendbc.car.interfaces import CarStateBase
from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, SECOC_CAR
ButtonType = structs.CarState.ButtonEvent.Type
SteerControlType = structs.CarParams.SteerControlType
@ -60,7 +60,7 @@ class CarState(CarStateBase):
# Describes the acceleration request from the PCM if on flat ground, may be higher or lower if pitched
# CLUTCH->ACCEL_NET is only accurate for gas, PCM_CRUISE->ACCEL_NET is only accurate for brake
# These signals only have meaning when ACC is active
if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
if "CLUTCH" in cp.vl:
self.pcm_accel_net = max(cp.vl["CLUTCH"]["ACCEL_NET"], 0.0)
# Sometimes ACC_BRAKING can be 1 while showing we're applying gas already
@ -232,7 +232,7 @@ class CarState(CarStateBase):
("GEAR_PACKET", 1),
]
if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
if CP.carFingerprint in (TSS2_CAR - SECOC_CAR - {CAR.LEXUS_NX_TSS2, CAR.TOYOTA_ALPHARD_TSS2, CAR.LEXUS_IS_TSS2}):
messages.append(("CLUTCH", 15))
if CP.carFingerprint in UNSUPPORTED_DSU_CAR: