Toyota: fix acceleration discontinuity when stopping (#1664)

fix jumping when stopping
commaai · Jan 25, 2025 · b949b43 · b949b43
1 parent 00bb29c
commit b949b43
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
@@ -220,14 +220,15 @@ def update(self, CC, CS, now_nanos):
         j_ego = (self.aego.x - prev_aego) / (DT_CTRL * 3)
         a_ego_future = a_ego_blended + j_ego * 0.5
 
-        if actuators.longControlState == LongCtrlState.pid:
+        if CC.longActive:
           # constantly slowly unwind integral to recover from large temporary errors
           self.long_pid.i -= ACCEL_PID_UNWIND * float(np.sign(self.long_pid.i))
 
           error_future = pcm_accel_cmd - a_ego_future
           pcm_accel_cmd = self.long_pid.update(error_future,
                                                speed=CS.out.vEgo,
-                                               feedforward=pcm_accel_cmd)
+                                               feedforward=pcm_accel_cmd,
+                                               freeze_integrator=actuators.longControlState != LongCtrlState.pid)
         else:
           self.long_pid.reset()