Merge branch 'master' into CTR

commaai · Jan 23, 2025 · d0f2495 · d0f2495
2 parents d273293 + 7ceed32
commit d0f2495
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
@@ -113,6 +113,7 @@ def update(self, CC, CS, now_nanos):
         accel = max(accel, self.accel - (3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL))
 
       accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
+      gas = float(np.clip(gas, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
 
       # Both gas and accel are in m/s^2, accel is used solely for braking
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:

diff --git a/opendbc/car/tesla/interface.py b/opendbc/car/tesla/interface.py
@@ -14,14 +14,16 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     # Not merged yet
     #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]
-    #ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TESLA_LONG_CONTROL
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
 
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
-    ret.openpilotLongitudinalControl = True
+    ret.experimentalLongitudinalAvailable = True
+    if experimental_long:
+      ret.openpilotLongitudinalControl = True
+      # ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TESLA_LONG_CONTROL
 
     return ret