From 36cc94ca858f542753b42da308fde9a2cb35e758 Mon Sep 17 00:00:00 2001 From: sshane Date: Thu, 2 Sep 2021 22:56:46 -0500 Subject: [PATCH] fix obscenely slow acceleration with pedal (#463) --- selfdrive/car/toyota/interface.py | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 9a64c44838a358..36a2036c939b37 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -392,15 +392,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # py # intercepting the DSU is a community feature since it requires unofficial hardware ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu - if ret.enableGasInterceptor: - # Transitions from original pedal tuning at MIN_ACC_SPEED to default tuning at MIN_ACC_SPEED + hysteresis gap - ret.gasMaxBP = [0., MIN_ACC_SPEED] - ret.gasMaxV = [0.2, 0.5] - ret.longitudinalTuning.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.] - ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5] - ret.longitudinalTuning.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.] - ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36] - elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]: + if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]: # Improved longitudinal tune ret.longitudinalTuning.deadzoneBP = [0., 8.05] ret.longitudinalTuning.deadzoneV = [.0, .14]