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IQ.Pilot Release Commit @ 2b39aa6

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IQ.Lvbs CI [bot]
2026-07-29 00:19:10 -05:00
parent 8f052b6f93
commit c7908ad2e0
226 changed files with 11978 additions and 11349 deletions
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iqdbc_repo/iqdbc/car/toyota/carcontroller.py
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@@ -260,6 +260,7 @@ class CarController(CarControllerBase, GasInterceptorCarController):
freeze_integrator=actuators.longControlState != LongCtrlState.pid)
else:
self.long_pid.reset()
pcm_accel_cmd = 0.
# Along with rate limiting positive jerk above, this greatly improves gas response time
# Consider the net acceleration request that the PCM should be applying (pitch included)
@@ -269,7 +270,9 @@ class CarController(CarControllerBase, GasInterceptorCarController):
elif net_acceleration_request_min > 0.3:
self.permit_braking = False
pcm_accel_cmd = pcm_accel_cmd if self.CP.carFingerprint in TSS2_CAR else actuators.accel
sdsu_tssp_long_active = bool(self.CP_IQ.flags & ToyotaFlagsIQ.SMART_DSU) and \
(self.CP.carFingerprint not in TSS2_CAR) and CC.longActive
pcm_accel_cmd = actuators.accel if sdsu_tssp_long_active else pcm_accel_cmd
pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd