Revert "Toyota: raise max acceleration for TSS2 (commaai#1567)"

This reverts commit 66aeab7.
sunnypilot · Dec 20, 2024 · 45d56e8 · 45d56e8
1 parent 28aaec4
commit 45d56e8
Showing 1 changed file with 7 additions and 5 deletions.
diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py
@@ -51,6 +51,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     if Ecu.hybrid in found_ecus:
       ret.flags |= ToyotaFlags.HYBRID.value
 
+    # TODO: expand to the rest of the cars
+    if candidate in (CAR.LEXUS_ES_TSS2,) and not (ret.flags & ToyotaFlags.HYBRID.value):
+      ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
+
     if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
       # Only give steer angle deadzone to for bad angle sensor prius
@@ -145,16 +149,14 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
 
     if candidate in TSS2_CAR:
-      ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
       if sp_tss2_long_tune:
         ret.vEgoStopping = 0.15
         ret.vEgoStarting = 0.05
         ret.stoppingDecelRate = 0.03  # reach stopping target smoothly
       else:
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
-
+        ret.vEgoStopping = 0.15
+        ret.vEgoStarting = 0.05
+        ret.stoppingDecelRate = 0.1  # reach stopping target smoothly
 
       # Hybrids have much quicker longitudinal actuator response
       if ret.flags & ToyotaFlags.HYBRID.value: