update

CT921 · May 1, 2023 · 1d91b7e · 1d91b7e
1 parent 58f838f
commit 1d91b7e
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Showing 5 changed files with 356 additions and 20 deletions.
diff --git a/opendbc b/opendbc
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -295,12 +295,12 @@ def update_events(self, CS):
 
     # Alert if fan isn't spinning for 5 seconds
     if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
-      if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
+      # if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
         # allow enough time for the fan controller in the panda to recover from stalls
-        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
-          self.events.add(EventName.fanMalfunction)
-      else:
-        self.last_functional_fan_frame = self.sm.frame
+        # if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
+          # self.events.add(EventName.fanMalfunction)
+      # else:
+      self.last_functional_fan_frame = self.sm.frame
 
     # Handle calibration status
     cal_status = self.sm['liveCalibration'].calStatus

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -22,7 +22,7 @@
 A_CRUISE_MIN_BP_TOYOTA =   [0.,    8.3,   14,    20.,   30.,   55.]
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
-A_CRUISE_MAX_VALS_TOYOTA = [2.0, 1.7, 1.3, 1.0, 0.89, 0.81, 0.63, 0.4,  0.31, 0.11]  # Sets the limits of the planner accel, PID may exceed
+A_CRUISE_MAX_VALS_TOYOTA = [2.2, 1.8, 1.4, 1.0, 0.89, 0.81, 0.63, 0.4,  0.31, 0.11]  # Sets the limits of the planner accel, PID may exceed
 A_CRUISE_MAX_BP_TOYOTA =   [0.,  3.,  6.,  8.,  11.,  15.,  20.,  25.,  30.,  55.]
 
 # Lookup table for turns