Toyota: add an accel winddown rate limit #1475
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The rate limit on the brakes didn't prevent windup, but they should prevent the PCM compensation from winding up too much during the step response. |
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winddown done in #1481 |
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Matched Corolla's ACCEL_NET winddown limit:
Also might be crazy, but I observed the Corolla not overshooting in normal sng with an acceleration request that heavily oscillated within 0.1 m/s^2 or so, does that somehow prevent internal PCM wind up seen here? Try it!