Toyota: Add SECOC longitudinal control #1385
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sshane
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Oct 18, 2024
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jyoung8607
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Nov 1, 2024
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Long term I'd like to clean up the SecOC message wrapping convention, but that's a separate refactor that we don't need to get into for this PR.
For development purposes we've gotten away with setting the accel value in both ACC control messages, but before we merge we need to match stock actuation behavior: always set zero/inactive acceleration in ACC_CONTROL, and only send the true accel in ACC_CONTROL_2. There are checks in commaai/panda#2072 to ensure this correct behavior.
Aside from that, LGTM.
jyoung8607
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Nov 2, 2024
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
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openpilotLongitudinalControldisableThis will be accompanied by this related panda safety PR: commaai/panda#2061