From 18382f781956ee51f90b0982396901d2c50c5c80 Mon Sep 17 00:00:00 2001 From: Igor Date: Mon, 8 Feb 2021 04:07:37 -0500 Subject: [PATCH] Toyota interface.py: Create separate section for custom long tune (#20021) * Move custom long tune section * Move default tune to else statement --- selfdrive/car/toyota/interface.py | 36 ++++++++++++++++--------------- 1 file changed, 19 insertions(+), 17 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index f96d29b9..4ba0989b 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -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