Lexus ES TSS2: compensate for creeping force (commaai#1271)

* compensate for creeping force

* better comp

* not needed yet

opendbc/car/toyota/carstate.py

@@ -57,11 +57,17 @@ 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:
- # Sometimes ACC_BRAKING can be 1 while showing we're applying gas already
  self.pcm_accel_net = max(cp.vl["CLUTCH"]["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)
+ if self.pcm_accel_net + neutral_accel < 0.0:
+ self.pcm_accel_net += neutral_accel
+
  # filtered pitch estimate from the car, negative is a downward slope
  self.slope_angle = cp.vl["VSC1S07"]["ASLP"] * CV.DEG_TO_RAD