Toyota: simple long tuning improvement #1522
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Calculating jEgo and extrapolating into the future by the long actuator delay actually matches what the new tune does to avoid overshoot, without needing to compensate for issues with ACCEL_NET: Corolla w/ new tune on master on left. Corolla w/ this branch on right. Steep downhill:
Compare to before the new tune:
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My goal is to ship a measurably improved long experience without regressing anything. Performance doesn't need to be perfect, just noticeably improved. This is becoming harder with the PCM acceleration request compensation stuff which is getting pretty complicated with all the filters and controllers.
This is an attempt to match the behavior of the new tune without relying on any not-fully-understood CAN signals.
Here's an example of the Corolla not braking enough on a down hill due to bad pitch, bad ACCEL_NET signal, and slow aEgo compensation: https://connect.comma.ai/a2bddce0b6747e10/00000503--6377595dba/154/209