From 53f11a8955ee1d07411df27f79bf9cde7bb56cb0 Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Wed, 26 Jun 2024 20:32:58 +0800 Subject: [PATCH] refactored to use tune from new long control API (https://github.com/commaai/openpilot/pull/32706) --- selfdrive/car/toyota/interface.py | 5 +---- selfdrive/controls/lib/longitudinal_planner.py | 1 - 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d9d7541fa..7568c08e5 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -153,10 +153,7 @@ class CarInterface(CarInterfaceBase): else: ret.stopAccel = -2.5 - ret.stoppingDecelRate = 0.17 - tune.kpV = [0.] - tune.kiV = [0.5] - elif candidate in TSS2_CAR: + if candidate in TSS2_CAR: tune.kpV = [0.0] tune.kiV = [0.5] ret.vEgoStopping = 0.25 diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 9a9a4370f..649119d77 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -220,7 +220,6 @@ class LongitudinalPlanner: pm.send('longitudinalPlan', plan_send) - # dp - extension plan_ext_send = messaging.new_message('longitudinalPlanExt') plan_ext_send.valid = True