Hmm, clutch matches while braking, but still doesn't capture forces n…

…ear a stop well
commaai · Oct 18, 2024 · c001a5c · c001a5c
1 parent 9a206ed
commit c001a5c
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/opendbc/car/toyota/carstate.py b/opendbc/car/toyota/carstate.py
@@ -62,11 +62,11 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
  # 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:
- self.pcm_accel_net = max(cp.vl["CLUTCH"]["ACCEL_NET"], 0.0)
+ self.pcm_accel_net = cp.vl["CLUTCH"]["ACCEL_NET"]
 
- # Sometimes ACC_BRAKING can be 1 while showing we're applying gas already
- if cp.vl["PCM_CRUISE"]["ACC_BRAKING"]:
- self.pcm_accel_net += min(cp.vl["PCM_CRUISE"]["ACCEL_NET"], 0.0)
+ # # Sometimes ACC_BRAKING can be 1 while showing we're applying gas already
+ # 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)