From 78b2e22e1ad989786625018719b06bf030702932 Mon Sep 17 00:00:00 2001
From: lukasloetkolben <61192133+lukasloetkolben@users.noreply.github.com>
Date: Sun, 22 Sep 2024 18:30:28 -0700
Subject: [PATCH] remove ACCEL_TO_SPEED_MULTIPLIER

fix create_longitudinal_command
---
 opendbc/car/tesla/carcontroller.py | 13 +++++--------
 opendbc/car/tesla/teslacan.py      | 13 +++++--------
 opendbc/car/tesla/values.py        |  1 -
 3 files changed, 10 insertions(+), 17 deletions(-)

diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index b92c804425..de57cbecba 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -4,7 +4,7 @@
 from opendbc.car import apply_std_steer_angle_limits
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.tesla.teslacan import TeslaCAN
-from opendbc.car.tesla.values import DBC, CarControllerParams
+from opendbc.car.tesla.values import CarControllerParams
 
 
 class CarController(CarControllerBase):
@@ -41,18 +41,15 @@ def update(self, CC, CS, now_nanos):
     if self.CP.openpilotLongitudinalControl and self.frame % 4 == 0:
       state = CS.das_control["DAS_accState"]
       if hands_on_fault:
-        state = 13 # "ACC_CANCEL_GENERIC_SILENT"
+        state = 13  # "ACC_CANCEL_GENERIC_SILENT"
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-      speed = max(CS.out.vEgo + (accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
-      min_accel = max(accel, 0)
-      max_accel = accel
-      cntr =  (self.frame // 4) % 8
-      can_sends.append(self.tesla_can.create_longitudinal_command(state, speed, max_accel, min_accel, cntr))
+      cntr = CS.das_control["DAS_controlCounter"]
+      can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr))
 
     # Increment counter so cancel is prioritized even without openpilot longitudinal
     if hands_on_fault and not self.CP.openpilotLongitudinalControl:
       cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
-      can_sends.append(self.tesla_can.create_cancel_command(cntr))
+      can_sends.append(self.tesla_can.create_longitudinal_command(13, 0,  cntr))
 
     # TODO: HUD control
     new_actuators = copy.copy(actuators)
diff --git a/opendbc/car/tesla/teslacan.py b/opendbc/car/tesla/teslacan.py
index 10db3a4096..22963861bc 100644
--- a/opendbc/car/tesla/teslacan.py
+++ b/opendbc/car/tesla/teslacan.py
@@ -1,4 +1,4 @@
-from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.interfaces import V_CRUISE_MAX
 from opendbc.car.tesla.values import CANBUS, CarControllerParams
 
 
@@ -24,21 +24,18 @@ def create_steering_control(self, angle, enabled, counter):
     values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
 
-  def create_longitudinal_command(self, acc_state, speed, min_accel, max_accel, cntr):
+  def create_longitudinal_command(self, acc_state, accel, cntr):
     values = {
-      "DAS_setSpeed": speed * CV.MS_TO_KPH,
+      "DAS_setSpeed": 0 if accel < 0 else V_CRUISE_MAX,
       "DAS_accState": acc_state,
       "DAS_aebEvent": 0,
       "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
       "DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
-      "DAS_accelMin": min_accel,
-      "DAS_accelMax": max_accel,
+      "DAS_accelMin": accel,
+      "DAS_accelMax": max(accel, 0),
       "DAS_controlCounter": cntr,
       "DAS_controlChecksum": 0,
     }
     data = self.packer.make_can_msg("DAS_control", CANBUS.party, values)[1]
     values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
     return self.packer.make_can_msg("DAS_control", CANBUS.party, values)
-
-  def create_cancel_command(self, cntr):
-    return self.create_longitudinal_command(13, 0, 0, 0,  cntr)
diff --git a/opendbc/car/tesla/values.py b/opendbc/car/tesla/values.py
index 2ace668fd3..a9e61e1f75 100644
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -54,7 +54,6 @@ class CarControllerParams:
   ACCEL_MAX = 2.0    # m/s^2
   JERK_LIMIT_MAX = 5
   JERK_LIMIT_MIN = -5
-  ACCEL_TO_SPEED_MULTIPLIER = 3
 
   def __init__(self, CP):
     pass