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Toyota: don't release brakes coming to a stop w/ new tune (#1508) 

better creeping force
This commit is contained in:
Shane Smiskol 2024-11-19 20:52:05 -06:00 committed by GitHub
parent 9a353c4d25
commit eaeb7a96d7
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1 changed files with 2 additions and 3 deletions
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5
opendbc/car/toyota/carstate.py
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@ -70,9 +70,8 @@ class CarState(CarStateBase):
if cp.vl["PCM_CRUISE"]["ACC_BRAKING"]:
self.pcm_accel_net += min(cp.vl["PCM_CRUISE"]["ACCEL_NET"], 0.0)
# add creeping force at low speeds only for braking, CLUTCH->ACCEL_NET already shows this
neutral_accel = max(cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"] / self.CP.mass, 0.0)
if self.pcm_accel_net + neutral_accel < 0.0:
# add creeping force at low speeds only for braking, CLUTCH->ACCEL_NET already shows this
neutral_accel = max(cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"] / self.CP.mass, 0.0)
self.pcm_accel_net += neutral_accel
ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],