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Toyota: Add SECOC longitudinal control #1385
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Long term I'd like to clean up the SecOC message wrapping convention, but that's a separate refactor that we don't need to get into for this PR.
For development purposes we've gotten away with setting the accel value in both ACC control messages, but before we merge we need to match stock actuation behavior: always set zero/inactive acceleration in ACC_CONTROL, and only send the true accel in ACC_CONTROL_2. There are checks in commaai/panda#2072 to ensure this correct behavior.
Aside from that, LGTM.
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Just passing a Discord Link here to some of the chatter on the state of the PR: Nov 21: "Well the mutation tests are failing so something seems wrong functionally. But I would also say my attempt at supporting two acc commands in the tests is a bit gross" https://discord.com/channels/469524606043160576/905950538816978974/1309380353261174847 |
Toyota: Add following distance button for SecOC Long
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Confirmed that the RAV4 Prime does camera ACC like the other TSS2 camera ACC. Radar tracks are able to be parsed with No need to disable radar to achieve openpilot longitudinal with this car.
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Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Radar points do look unusually sparse, especially with cars off to the side |
Is that something I can control? If so do you have advice on where to start? I just learned tsk radar worked out of the box when sunny dug into it. So not sure what I'd be looking for. Is that an issue that would block getting this merged? |
@sshane have you had a chance to look at my questions above? Also, how can we get this merged? It's been open for several months and there are a lot of TSK users who have been running this on various forks. Is there something needed to move this forward? |
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@sshane I moved the safety code from commaai/panda#2061 here as requested. Mutation tests are timing out since I synced with master - before I applied my changes from that other PR. Is this a known issue? |
It should pass if you rebase |
openpilotLongitudinalControl
disableThis will be accompanied by this related panda safety PR: commaai/panda#2061