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Update carcontroller.py

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eFini
2025-09-30 10:57:15 +08:00
committed by GitHub
parent 927084927b
commit 549577a29d
1 changed files with 3 additions and 0 deletions
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opendbc_repo/opendbc/car/toyota/carcontroller.py
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@@ -251,6 +251,9 @@ class CarController(CarControllerBase):
elif net_acceleration_request_min > 0.3:
self.permit_braking = False
# rick - potential fix for sDSU? thanks to Jason
# https://github.com/sunnypilot/opendbc/compare/dd2016f77f8467ca2f7934db1b8c6d73164b3df7...f90b75b1531d0ef949c1c7fb8c175059448a2a97#diff-dc03b1fc7156134429efc0cdced75bc227d0ceb8bbd0c55763022fb9db6794d9
pcm_accel_cmd = pcm_accel_cmd if self.CP.carFingerprint in TSS2_CAR else actuators.accel
pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,