Toyota: only use pedal to get out of standstill on supported cars

[cydia2020]

Only use pedal to get the car out of standstill on cars with full speed DRCC (namely Prius, ~~RAV4 Hybrid, Kluger~~, CTH, ~~ESH~~, NX, and RX).

This eliminates the jerk introduced by the pedal at low speeds, it also helps simplify tuning. Tested on my Prius.

[haraschax]

, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH], those cars don't need pedals?

@adeebshihadeh Don't have any objections to this. I think it's good to use the pedal as little as possible.

[cydia2020]

, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH], those cars don't need pedals?

@adeebshihadeh Don't have any objections to this. I think it's good to use the pedal as little as possible.

That's one of the things that I am not sure of, standstill is not requested on those cars. So they should just "go" when op sends accel command

[VirtuallyChris]

At least for the Rav4H and the HighlanderH they both do stop and go without hitting resume so exclude them from this list. Not 100% sure about the regular Highlander.

[cydia2020]

At least for the Rav4H and the HighlanderH they both do stop and go without hitting resume so exclude them from this list. Not 100% sure about the regular Highlander.

Highlander is also marked as a no stop timer car, so I won't add it to the no auto resume car list

Edit: someone in the discord server mentioned that tss-p kluger does do full SnG, so it'll not be in the NO_AUTO_RESUME_CAR list.

[cydia2020]

Think this is ready for merge, I've been running this for almost a year now and haven't experienced any hiccups.

[sshane]

Can you provide a route with the changes? Want to quickly see if you overshoot at all, and how much

[cydia2020]

I'm unable to provide a useradmin link as my device was repaired, a route file was provided to @sshane a few days ago on discord, I won't post it here anymore as it's a privacy concern.

[cferra]

This also occurs on my CH-R - have to press to resume, can this car be added to the list for this? Or can it be addressed an another way?

[cydia2020]

This also occurs on my CH-R - have to press to resume, can this car be added to the list for this? Or can it be addressed an another way?

If it's tss-p, then openpilot doesn't control longitudinal, so that'd be a no, there are forks out there that does, but it requires another piece of hardware.

[sshane]

@cydia2020 I wonder, what if you just adjust MIN_ACC_SPEED to be 1 mph or less for your car?

[cydia2020]

I wonder, what if you just adjust MIN_ACC_SPEED to be 1 mph or less for your car?

MIN_ACC_SPEED is already -1 for this particular model. As

ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED

and

    if candidate == CAR.PRIUS:
      stop_and_go = True

Side note, I am still running this full time on my Prius, the vehicle doesn't move when op "taps" the interceptor, it only brings the vehicle out of standstill (similar to the effect of tapping the UP button on the cruise lever), so no jerk is introduced.

[adeebshihadeh]

Thanks for the PR, but this is too much code and discussion than we can afford for niche things like the pedal.