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Fix Chrysler Pacifica weight (#20647) 

* Update interface.py

2858 is the gross vehicle weight of the hybrid (maximum weight of vehicle + cargo).
Curb weight for the ICE is 1964 kg, for the hybrid it is 2242 kg

* hybrid & update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
albatross
mahlzeit1948 2021-04-11 20:18:31 -04:00 committed by GitHub
parent e562a69a4d
commit f6d800a89e
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2 changed files with 2 additions and 2 deletions
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2
selfdrive/car/chrysler/interface.py
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@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 2858. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.mass = 2242. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
fe6473297e919d459effbe4a9888a083c9a84ee5
1a3391dcabbcef563062010bda7ac89793528004