commaai
Toyota: API is now gas/brake
Needs testing, required for https://github.com/commaai/openpilot/pull/33384
Past PRs for history: https://github.com/commaai/openpilot/pull/29481 // https://github.com/commaai/openpilot/pull/32753
There is an undefined signal in CLUTCH that describes a very similar attribute, but may not be affected by the ACC_BRAKING bit?
BO_ 865 CLUTCH: 8 XXX
SG_ TRUE_ACCEL_REQ : 48|16@1+ (0.0002,-6.5536) [0|4095] "" XXX
GEAR_PACKET_HYBRID->CAR_MOVEMENT might be some force exerted by the engine/hybrid motors, need to find the ICE equivelent. And BRAKE_PEDAL->BRAKE might be the actual brake percentage!
While reviewing some recent routes using the new signal in the CLUTCH message, I discovered why there might still be some sub optimal performance. It appears that PCM_CRUISE->ACCEL_NET is only accurate for braking (it's a simple scaling factor compared to a braking signal) and the new signal (CLUTCH->ACCEL_NET) is only accurate for acceleration with another scaling factor, but doesn't capture some small residual force the engine applies at low speed for creep, which is why the car kept releasing brakes too much coming to a stop (seen in the plot):
Here is switching the acceleration read back signals to show how each is only accurate for brake/gas:
Superseded by recent Lexus tune work, to expand for all Toyota soon. https://github.com/commaai/opendbc/pull/1248