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Toyota: remove redundant cancel code (#32448)

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saw no cases where this was non-zero while cruise_active was false
old-commit-hash: b17ec494b20245c821081a7be0651f655c005576
This commit is contained in:
Shane Smiskol
2024-05-16 16:13:12 -07:00
committed by GitHub
parent 860283c4cb
commit 77b1da0a45
1 changed files with 0 additions and 5 deletions
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selfdrive/car/toyota/carcontroller.py
-5
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@@ -102,11 +102,6 @@ class CarController(CarControllerBase):
# *** gas and brake ***
pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
if not CC.enabled and CS.pcm_acc_status:
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
self.standstill_req = True