fix accel_controller

selfdrive/controls/lib/longitudinal_planner.py

@@ -162,16 +162,19 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     if self.accel_controller.is_enabled:
       # get min, max from accel controller
       min_limit, max_limit = self.accel_controller.get_accel_limits(v_ego, accel_clip)
-      #print(f"Accel limits from controller: min_limit={min_limit}, max_limit={max_limit}")
+      print(f"Accel Controller: min_limit={min_limit:.2f}, max_limit={max_limit:.2f}")
+
     if self.mpc.mode == 'acc':
-      # VOACC car, just give it max min (-1.2) so I can brake harder
-      accel_clip = [ACCEL_MIN, max_limit] if self.CP.radarUnavailable else [min_limit, max_limit]
+      # Use the accel controller limits directly
+      accel_clip = [min_limit, max_limit]
       # recalculate limit turn according to the new min, max
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+      print(f"ACC Mode Final: v_ego={v_ego:.2f}, accel_clip={accel_clip}")
     else:
       # blended, just give it max min (-3.5) and max from accel controller
       accel_clip = [ACCEL_MIN, ACCEL_MAX]
+      print(f"Blended Mode: accel_clip={accel_clip}")
 
     if reset_state:
       self.v_desired_filter.x = v_ego