Lexus: closed brake loop #1392
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Lexus: closed brake loop #1392
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sshane
commented
Oct 21, 2024
| @@ -178,7 +178,7 @@ def update(self, CC, CS, now_nanos): | |||
| pcm_accel_cmd = actuators.accel | |||
| self.permit_braking = True | |||
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| pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX) | |||
| pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN_LIMIT, self.params.ACCEL_MAX) | |||
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The accel from openpilot is clipped to ACCEL_MIN, so we allow some tolerance so we can request max brakes (-3.5 m/s^2) if the compensation is slightly wrong
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Will test after Bronco