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Revert "Lexus ES TSS2: improve start from stop response time" #1302

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Sep 28, 2024
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Revert "Lexus ES TSS2: improve start from stop response time" #1302

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11 changes: 3 additions & 8 deletions opendbc/car/toyota/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -125,14 +125,9 @@ def update(self, CC, CS, now_nanos):

self.pcm_accel_compensation = rate_limit(pcm_accel_compensation, self.pcm_accel_compensation, -0.01, 0.01)
pcm_accel_cmd = actuators.accel - self.pcm_accel_compensation

# Along with rate limiting positive jerk below, this greatly improves gas response time
# Consider the net acceleration request that the PCM should be applying (pitch included)
permit_braking = net_acceleration_request < 0.1
else:
self.pcm_accel_compensation = 0.0
pcm_accel_cmd = actuators.accel
permit_braking = True

pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)

Expand Down Expand Up @@ -168,11 +163,11 @@ def update(self, CC, CS, now_nanos):
# 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, permit_braking, self.standstill_req, lead, CS.acc_type,
fcw_alert, self.distance_button))
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, 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))
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))

# *** hud ui ***
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
Expand Down
4 changes: 2 additions & 2 deletions opendbc/car/toyota/toyotacan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,14 +33,14 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
return packer.make_can_msg("STEERING_LTA", 0, values)


def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance):
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
"ACC_TYPE": acc_type,
"DISTANCE": distance,
"MINI_CAR": lead,
"PERMIT_BRAKING": permit_braking,
"PERMIT_BRAKING": 1,
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,
Expand Down
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