clip max requested accel to 1.0, with PID up to 1.5

Author: sshane

selfdrive/car/toyota/values.py

@@ -10,7 +10,7 @@
 
 
 class CarControllerParams:
-  ACCEL_MAX = 1.8  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.0  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500

selfdrive/controls/lib/longcontrol.py

@@ -89,12 +89,13 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
     a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
 
     self.pid.neg_limit = accel_limits[0]
-    if CS.sportOn:
-      pass  # already max accel from CarControllerParams
-    elif CS.econOn:
-      accel_limits[1] = 1.3
-    else:
-      accel_limits[1] = 1.5
+    # if CS.sportOn:
+    #   pass  # already max accel from CarControllerParams
+    # elif CS.econOn:
+    #   accel_limits[1] = 1.3
+    # else:
+    #   accel_limits[1] = 1.5
+    accel_limits[1] = 1.5
     self.pid.pos_limit = accel_limits[1]
 
     # if self.op_params.get('dynamic_gas'):