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Toyota interface.py: Create separate section for custom long tune (#20021) 

* Move custom long tune section

* Move default tune to else statement
albatross
Igor 2021-02-08 04:07:37 -05:00 committed by GitHub
parent 40919a6f48
commit 18382f7819
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1 changed files with 19 additions and 17 deletions
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36
selfdrive/car/toyota/interface.py
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@ -24,13 +24,25 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
# Default longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
# Improved longitudinal tune
if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
ret.startingBrakeRate = 2.0 # release brakes fast
ret.startAccel = 1.2 # Accelerate from 0 faster
else:
# Default longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
@ -215,16 +227,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
# Longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
ret.startingBrakeRate = 2.0 # release brakes fast
ret.startAccel = 1.2 # Accelerate from 0 faster
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True