From b17ec494b20245c821081a7be0651f655c005576 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 May 2024 16:13:12 -0700 Subject: [PATCH] Toyota: remove redundant cancel code (#32448) saw no cases where this was non-zero while cruise_active was false --- selfdrive/car/toyota/carcontroller.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index f2d8a4a7bc..354d10a90e 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -102,11 +102,6 @@ class CarController(CarControllerBase): # *** gas and brake *** pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX) - # TODO: probably can delete this. CS.pcm_acc_status uses a different signal - # than CS.cruiseState.enabled. confirm they're not meaningfully different - if not CC.enabled and CS.pcm_acc_status: - pcm_cancel_cmd = 1 - # on entering standstill, send standstill request if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR): self.standstill_req = True