Toyota interface.py: Create separate section for custom long tune (#20021)
* Move custom long tune section * Move default tune to else statementalbatross
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40919a6f48
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18382f7819
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@ -24,13 +24,25 @@ class CarInterface(CarInterfaceBase):
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ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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ret.steerLimitTimer = 0.4
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ret.steerLimitTimer = 0.4
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# Default longitudinal tune
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# Improved longitudinal tune
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ret.longitudinalTuning.deadzoneBP = [0., 9.]
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if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
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ret.longitudinalTuning.deadzoneV = [0., .15]
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ret.longitudinalTuning.deadzoneBP = [0., 8.05]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.deadzoneV = [.0, .14]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kpBP = [0., 5., 20.]
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ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
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ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
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ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
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ret.startingBrakeRate = 2.0 # release brakes fast
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ret.startAccel = 1.2 # Accelerate from 0 faster
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else:
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# Default longitudinal tune
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ret.longitudinalTuning.deadzoneBP = [0., 9.]
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ret.longitudinalTuning.deadzoneV = [0., .15]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
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if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
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ret.lateralTuning.init('pid')
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ret.lateralTuning.init('pid')
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@ -215,16 +227,6 @@ class CarInterface(CarInterfaceBase):
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ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
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ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kf = 0.00007818594
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ret.lateralTuning.pid.kf = 0.00007818594
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# Longitudinal tune
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ret.longitudinalTuning.deadzoneBP = [0., 8.05]
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ret.longitudinalTuning.deadzoneV = [.0, .14]
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ret.longitudinalTuning.kpBP = [0., 5., 20.]
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ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
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ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
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ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
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ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
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ret.startingBrakeRate = 2.0 # release brakes fast
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ret.startAccel = 1.2 # Accelerate from 0 faster
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elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
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elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
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stop_and_go = True
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stop_and_go = True
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