fix obscenely slow acceleration with pedal (commaai#463)

rpaulhanna · Sep 3, 2021 · 8697914 · 8697914
1 parent efca3f1
commit 8697914
Showing 1 changed file with 1 addition and 9 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -392,15 +392,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
     # intercepting the DSU is a community feature since it requires unofficial hardware
     ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
 
-    if ret.enableGasInterceptor:
-      # Transitions from original pedal tuning at MIN_ACC_SPEED to default tuning at MIN_ACC_SPEED + hysteresis gap
-      ret.gasMaxBP = [0., MIN_ACC_SPEED]
-      ret.gasMaxV = [0.2, 0.5]
-      ret.longitudinalTuning.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
-      ret.longitudinalTuning.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36]
-    elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
+    if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
       # Improved longitudinal tune
       ret.longitudinalTuning.deadzoneBP = [0., 8.05]
       ret.longitudinalTuning.deadzoneV = [.0, .14]