clean up

selfdrive/car/toyota/interface.py

@@ -212,10 +212,6 @@ class CarInterface(CarInterfaceBase):
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
-    # Use SDSU to send ACC_CONTROL
-    # Use SDSU if detected and toggled is enabled
-    # If the smartDsu is detected in these cars and toggle is enabled, or
-
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
@@ -230,16 +226,6 @@ class CarInterface(CarInterfaceBase):
     # openpilot longitudinal enabled when experimental long is toggled:
     #  - TSS2 radar ACC cars w/ smart-DSU installed
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
-
-    if ret.radarUnavailable:
-      # On TSS2 radar-based ACC cars, the SDSU is a filter on the ACC_CONTROL message from the radar
-      ret.openpilotLongitudinalControl = ret.experimentalLongitudinalAvailable and experimental_long
-    else:
-      # On these cars, the SDSU filters the ACC_CONTROL message from the DSU
-      ret.openpilotLongitudinalControl = ret.openpilotLongitudinalControl or bool(ret.flags & ToyotaFlags.SMART_DSU)
-    ret.openpilotLongitudinalControl = (experimental_long and ret.experimentalLongitudinalAvailable) or bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
-    ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
-
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl: