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Lexus: prevent lagged gas after heavy braking #1266

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merged 4 commits into from
Sep 24, 2024
Merged

Lexus: prevent lagged gas after heavy braking #1266

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def4d39
fix slow gas after heavy braking
sshane Sep 24, 2024
ecf6918
only target this specific case
sshane Sep 24, 2024
5485bfe
better comment
sshane Sep 24, 2024
47b368d
Update opendbc/car/toyota/carcontroller.py
sshane Sep 24, 2024
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4 changes: 4 additions & 0 deletions opendbc/car/toyota/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -158,6 +158,10 @@ def update(self, CC, CS, now_nanos):
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
# internal PCM gas command can get stuck at high negative values. send one frame of zero when transitioning from braking to gas
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if pcm_accel_cmd > 0 > self.accel and abs(pcm_accel_cmd - self.accel) > 0.5:
pcm_accel_cmd = 0

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
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