diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 48e628c9b..1e88d5971 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index fb85c9459..f20bcac37 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 5fce0400e..fa66cdbe7 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index ef4a9a489..ea618a599 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-503a395e-DEBUG"; +const uint8_t gitversion[19] = "DEV-ec64617f-DEBUG"; diff --git 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a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 22f264306..2781e9c52 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 3ee749b87..badce1252 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 75433f877..02c5cfaaa 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index a9432ba8e..23fbd2879 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index ab39d9da7..474c0a9dd 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index c89e92e7b..8ecbc34a7 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 2b39be29d..303315d03 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-503a395e-DEBUG \ No newline at end of file +DEV-ec64617f-DEBUG \ No newline at end of file diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 9a2cb54d6..76386dae2 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -2404,6 +2404,24 @@ class LongitudinalPlanner: raw_approach_lift_cap = min(approach_lift_caps) if not experimental_mode: + # Apply the RAV4's mild early-lead response before ordinary lead tracking + # is admitted. This only removes throttle while a centered, confident + # lead is already braking; the normal safety path remains authoritative. + rav4_pretracking_caps = [ + cap for cap in ( + get_toyota_rav4_tss2_early_lead_cap( + self.CP, self.lead_one, v_ego, vision_cap_accel_min, + ), + get_toyota_rav4_tss2_early_lead_cap( + self.CP, self.lead_two, v_ego, vision_cap_accel_min, + ), + ) if cap is not None + ] + if rav4_pretracking_caps: + rav4_pretracking_cap = min(rav4_pretracking_caps) + self.a_desired = min(self.a_desired, rav4_pretracking_cap) + output_a_target = min(output_a_target, rav4_pretracking_cap) + early_radar_caps = [ cap for cap in ( get_honda_crv_5g_early_radar_follow_cap(