Revert "testing"

This reverts commit ec410f5.
commaai · Nov 16, 2024 · 2921729 · 2921729
1 parent ec410f5
commit 2921729
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
@@ -200,7 +200,7 @@ def update(self, CC, CS, now_nanos):
         self.prev_accel = pcm_accel_cmd
 
         # calculate amount of acceleration PCM should apply to reach target, given pitch
-        accel_due_to_pitch = 0.0  # math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY if len(CC.orientationNED) == 3 else 0.0
+        accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY if len(CC.orientationNED) == 3 else 0.0
         net_acceleration_request = pcm_accel_cmd + accel_due_to_pitch
 
         # self.pcm_accel_net.update(CS.out.aEgo)

diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py
@@ -144,7 +144,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       # Since we compensate for imprecise acceleration in carcontroller, we can be less aggressive with tuning
       # This also prevents unnecessary request windup due to internal car jerk limits
       if ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-        tune.kiV = [0.25]
+        tune.kiV = [0.0]
     else:
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]