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Revert "Toyota: learn offset for PCM acceleration request" (#1463) 

Revert "Toyota: learn offset for PCM acceleration request (#1461)"

This reverts commit 574eb64a2b.
This commit is contained in:
Shane Smiskol 2024-11-08 16:12:28 -06:00 committed by GitHub
parent 574eb64a2b
commit dbe8213512
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GPG Key ID: B5690EEEBB952194
1 changed files with 2 additions and 13 deletions
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15
opendbc/car/toyota/carcontroller.py
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@ -1,8 +1,7 @@
import math
from opendbc.car import carlog, apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY, DT_CTRL
make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY
from opendbc.car.can_definitions import CanData
from opendbc.car.common.filter_simple import FirstOrderFilter
from opendbc.car.common.numpy_fast import clip
from opendbc.car.secoc import add_mac, build_sync_mac
from opendbc.car.interfaces import CarControllerBase
@ -44,7 +43,6 @@ class CarController(CarControllerBase):
self.steer_rate_counter = 0
self.distance_button = 0
self.pcm_accel_net_filter = FirstOrderFilter(0, 0.75, DT_CTRL)
self.pcm_accel_compensation = 0.0
self.permit_braking = True
@ -156,18 +154,10 @@ class CarController(CarControllerBase):
net_acceleration_request = actuators.accel + accel_due_to_pitch
# Our model of the PCM's acceleration request isn't perfect, so we learn the offset when moving
# TODO: unwind during high jerk events
new_pcm_accel_net = CS.pcm_accel_net
if CS.out.standstill or stopping:
self.pcm_accel_net_filter.x = 0.0
else:
new_pcm_accel_net -= self.pcm_accel_net_filter.update((CS.pcm_accel_net - accel_due_to_pitch) - CS.out.aEgo)
# let PCM handle stopping for now
pcm_accel_compensation = 0.0
if not stopping:
pcm_accel_compensation = 2.0 * (new_pcm_accel_net - net_acceleration_request)
pcm_accel_compensation = 2.0 * (CS.pcm_accel_net - net_acceleration_request)
# prevent compensation windup
pcm_accel_compensation = clip(pcm_accel_compensation, actuators.accel - self.params.ACCEL_MAX,
@ -183,7 +173,6 @@ class CarController(CarControllerBase):
elif net_acceleration_request > 0.2:
self.permit_braking = False
else:
self.pcm_accel_net_filter.x = 0.0
self.pcm_accel_compensation = 0.0
pcm_accel_cmd = actuators.accel
self.permit_braking = True