try something else

opendbc/car/toyota/carcontroller.py

@@ -164,6 +164,9 @@ def update(self, CC, CS, now_nanos):
  self.pcm_accel_compensation = rate_limit(pcm_accel_compensation, self.pcm_accel_compensation, -0.01, 0.01)
  pcm_accel_cmd = actuators.accel - self.pcm_accel_compensation
 
+ # prevent request from deviating too far from current pcm accel net
+ pcm_accel_cmd = max(pcm_accel_cmd, CS.pcm_accel_net - 0.5)
+
  # Along with rate limiting positive jerk below, this greatly improves gas response time
  # Consider the net acceleration request that the PCM should be applying (pitch included)
  if net_acceleration_request < 0.1:

opendbc/car/toyota/carstate.py

@@ -69,9 +69,10 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
  if cp.vl["PCM_CRUISE"]["ACC_BRAKING"]:
  self.pcm_accel_net += min(cp.vl["PCM_CRUISE"]["ACCEL_NET"], 0.0)
 
- # this 0.8x seems consistent with the pitch compensated accel net, TODO: figure out what this is
- if cp.vl["VSC1S29"]["ICBACT"]:
- self.pcm_accel_net *= 0.8
+ # # this 0.8x seems consistent with the pitch compensated accel net, TODO: figure out what this is
+ # TODO: no it doesn't, is it request rate based?
+ # if cp.vl["VSC1S29"]["ICBACT"]:
+ # self.pcm_accel_net *= 0.8
 
  # add creeping force at low speeds only for braking, CLUTCH->ACCEL_NET already shows this
  # TODO: with ICBACT maybe we can always add neutral force for engine braking at high speed now!