Pedal isn't working, disabled for now

cfranyota · Aug 3, 2021 · 346838e · 346838e
1 parent abc3983
commit 346838e
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
@@ -61,7 +61,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     # *** compute control surfaces ***
 
     # gas and brake
-    interceptor_gas_cmd = 0.
+    interceptor_gas_cmd = clip(actuators.gas, 0, 1)
     pcm_accel_cmd = actuators.gas - actuators.brake
 
     if CS.CP.enableGasInterceptor:
@@ -74,7 +74,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
       if self.use_interceptor and enabled:
         # only send negative accel when using interceptor. gas handles acceleration
         # +0.06 offset to reduce ABS pump usage when OP is engaged
-        interceptor_gas_cmd = clip(compute_gb_pedal(pcm_accel_cmd * CarControllerParams.ACCEL_SCALE, CS.out.vEgo), 0., 1.)
+        # interceptor_gas_cmd = clip(compute_gb_pedal(pcm_accel_cmd * CarControllerParams.ACCEL_SCALE, CS.out.vEgo), 0., 1.)
         pcm_accel_cmd = 0.06 - actuators.brake
 
     pcm_accel_cmd, self.accel_steady = accel_hysteresis(pcm_accel_cmd, self.accel_steady, enabled)