Merge remote-tracking branch 'upstream/master' into toyota-acc-33hz

commaai · Nov 7, 2024 · 4f36f1e · 4f36f1e
2 parents 7ac64b2 + f090bf6
commit 4f36f1e
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Showing 3 changed files with 9 additions and 7 deletions.
diff --git a/opendbc/car/ford/interface.py b/opendbc/car/ford/interface.py
@@ -42,8 +42,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = cfgs
 
-    ret.experimentalLongitudinalAvailable = True
-    if experimental_long:
+    # TODO: verify stock AEB compatibility and longitudinal limit safety before shipping to release
+    ret.experimentalLongitudinalAvailable = ret.radarUnavailable
+    if experimental_long or not ret.radarUnavailable:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
       ret.openpilotLongitudinalControl = True
 

diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
@@ -56,6 +56,7 @@ def __init__(self, dbc_name, CP):
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
+    stopping = actuators.longControlState == LongCtrlState.stopping
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
@@ -155,7 +156,7 @@ def update(self, CC, CS, now_nanos):
 
       # let PCM handle stopping for now
       pcm_accel_compensation = 0.0
-      if actuators.longControlState != LongCtrlState.stopping:
+      if not stopping:
         pcm_accel_compensation = 2.0 * (CS.pcm_accel_net - net_acceleration_request)
 
       # prevent compensation windup
@@ -167,7 +168,7 @@ def update(self, CC, CS, now_nanos):
 
       # Along with rate limiting positive jerk below, this greatly improves gas response time
       # Consider the net acceleration request that the PCM should be applying (pitch included)
-      if net_acceleration_request < 0.1:
+      if net_acceleration_request < 0.1 or stopping:
         self.permit_braking = True
       elif net_acceleration_request > 0.2:
         self.permit_braking = False

diff --git a/opendbc/car/toyota/carstate.py b/opendbc/car/toyota/carstate.py
@@ -8,7 +8,7 @@
 from opendbc.car.common.numpy_fast import mean
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
-                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, SECOC_CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
@@ -60,7 +60,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     # Describes the acceleration request from the PCM if on flat ground, may be higher or lower if pitched
     # 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:
+    if "CLUTCH" in cp.vl:
       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
@@ -232,7 +232,7 @@ def get_can_parser(CP):
         ("GEAR_PACKET", 1),
       ]
 
-    if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
+    if CP.carFingerprint in (TSS2_CAR - SECOC_CAR - {CAR.LEXUS_NX_TSS2, CAR.TOYOTA_ALPHARD_TSS2, CAR.LEXUS_IS_TSS2}):
       messages.append(("CLUTCH", 15))
 
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR: