Abstract std params (#1138)
* get_can_parser and get_cam_can_parser are now standard static methodspull/1141/head
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435a36cdff
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af39d74a5b
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@ -21,18 +21,10 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "chrysler"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.chrysler
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# pedal
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ret.enableCruise = True
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# Speed conversion: 20, 45 mph
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ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
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ret.steerRatio = 16.2 # Pacifica Hybrid 2017
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@ -52,43 +44,19 @@ class CarInterface(CarInterfaceBase):
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ret.centerToFront = ret.wheelbase * 0.44
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ret.minSteerSpeed = 3.8 # m/s
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020_HYBRID, CAR.JEEP_CHEROKEE_2019):
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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# starting with reasonable value for civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
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ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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ret.brakeMaxBP = [5., 20.]
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ret.brakeMaxV = [1., 0.8]
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
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print("ECU Camera Simulated: {0}".format(ret.enableCamera))
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ret.openpilotLongitudinalControl = False
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ret.stoppingControl = False
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ret.startAccel = 0.0
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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.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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return ret
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@ -16,19 +16,11 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "ford"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.ford
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ret.dashcamOnly = True
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# pedal
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ret.enableCruise = True
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ret.wheelbase = 2.85
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ret.steerRatio = 14.8
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ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
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@ -41,10 +33,6 @@ class CarInterface(CarInterfaceBase):
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ret.centerToFront = ret.wheelbase * 0.44
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tire_stiffness_factor = 0.5328
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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ret.minEnableSpeed = -1.
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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@ -54,32 +42,11 @@ class CarInterface(CarInterfaceBase):
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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ret.steerControlType = car.CarParams.SteerControlType.angle
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [0.] # breakpoints at 1 and 40 kph
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ret.steerMaxV = [1.0] # 2/3rd torque allowed above 45 kph
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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ret.brakeMaxBP = [5., 20.]
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ret.brakeMaxV = [1., 0.8]
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
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ret.openpilotLongitudinalControl = False
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cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
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ret.stoppingControl = False
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ret.startAccel = 0.0
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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.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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return ret
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# returns a car.CarState
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@ -21,13 +21,11 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "gm"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.gm # default to gm
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ret.enableCruise = False # stock cruise control is kept off
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ret.enableCruise = False
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# GM port is considered a community feature, since it disables AEB;
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# TODO: make a port that uses a car harness and it only intercepts the camera
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ret.communityFeature = True
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@ -48,9 +46,6 @@ class CarInterface(CarInterfaceBase):
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ret.steerRateCost = 1.0
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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# default to gm
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ret.safetyModel = car.CarParams.SafetyModel.gm
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if candidate == CAR.VOLT:
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# supports stop and go, but initial engage must be above 18mph (which include conservatism)
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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@ -112,7 +107,6 @@ class CarInterface(CarInterfaceBase):
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ret.steerRatioRear = 0. # TODO: there is RAS on this car!
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ret.centerToFront = ret.wheelbase * 0.465
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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@ -122,26 +116,16 @@ class CarInterface(CarInterfaceBase):
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [.5]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [1.]
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ret.longitudinalTuning.kpBP = [5., 35.]
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ret.longitudinalTuning.kpV = [2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.36]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.stoppingControl = True
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ret.startAccel = 0.8
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ret.steerLimitTimer = 0.4
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ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
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ret.steerControlType = car.CarParams.SteerControlType.torque
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return ret
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@ -117,10 +117,8 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "honda"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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if candidate in HONDA_BOSCH:
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ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
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@ -144,7 +142,6 @@ class CarInterface(CarInterfaceBase):
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# which improves controls quality as it removes the steering column torsion from feedback.
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# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
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# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
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@ -377,21 +374,11 @@ class CarInterface(CarInterfaceBase):
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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# no max steer limit VS speed
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.] # max steer allowed
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ret.gasMaxBP = [0.] # m/s
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ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
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ret.brakeMaxBP = [5., 20.] # m/s
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ret.brakeMaxV = [1., 0.8] # max brake allowed
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.stoppingControl = True
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ret.startAccel = 0.5
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@ -24,15 +24,11 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "hyundai"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.radarOffCan = True
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ret.safetyModel = car.CarParams.SafetyModel.hyundai
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ret.enableCruise = True # stock acc
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ret.radarOffCan = True
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ret.steerActuatorDelay = 0.1 # Default delay
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ret.steerRateCost = 0.5
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@ -93,14 +89,6 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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ret.minSteerSpeed = 0.
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [0.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.centerToFront = ret.wheelbase * 0.4
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# TODO: get actual value, for now starting with reasonable value for
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@ -112,24 +100,7 @@ class CarInterface(CarInterfaceBase):
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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ret.steerControlType = car.CarParams.SteerControlType.torque
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [0.]
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ret.steerMaxV = [1.0]
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [1.]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [1.]
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
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ret.openpilotLongitudinalControl = False
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ret.stoppingControl = False
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ret.startAccel = 0.0
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return ret
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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raise NotImplementedError
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# returns a set of default params to avoid repetition in car specific params
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@staticmethod
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def get_std_params(candidate, fingerprint, has_relay):
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ret = car.CarParams.new_message()
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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# standard ALC params
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ret.steerControlType = car.CarParams.SteerControlType.torque
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ret.steerMaxBP = [0.]
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ret.steerMaxV = [1.]
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# stock ACC by default
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ret.enableCruise = True
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [.5] # half max brake
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [1.]
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ret.openpilotLongitudinalControl = False
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ret.startAccel = 0.0
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ret.stoppingControl = False
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [1.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [1.]
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return ret
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# returns a car.CarState, pass in car.CarControl
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def update(self, c, can_strings):
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raise NotImplementedError
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@ -35,17 +35,9 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "mock"
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ret.carFingerprint = candidate
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ret.safetyModel = car.CarParams.SafetyModel.noOutput
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ret.openpilotLongitudinalControl = False
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# FIXME: hardcoding honda civic 2016 touring params so they can be used to
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# scale unknown params for other cars
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ret.mass = 1700.
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ret.rotationalInertia = 2500.
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ret.wheelbase = 2.70
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@ -53,22 +45,6 @@ class CarInterface(CarInterfaceBase):
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ret.steerRatio = 13. # reasonable
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ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
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ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
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ret.steerRatioRear = 0.
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ret.steerMaxBP = [0.]
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ret.steerMaxV = [0.] # 2/3rd torque allowed above 45 kph
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [0.]
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [0.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.steerActuatorDelay = 0.
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return ret
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@ -19,16 +19,12 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "subaru"
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ret.radarOffCan = True
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.subaru
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ret.enableCruise = True
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# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
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# was never released
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ret.enableCamera = True
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@ -45,26 +41,6 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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ret.steerControlType = car.CarParams.SteerControlType.torque
|
||||
ret.steerRatioRear = 0.
|
||||
# testing tuning
|
||||
|
||||
# No long control in subaru
|
||||
ret.gasMaxBP = [0.]
|
||||
ret.gasMaxV = [0.]
|
||||
ret.brakeMaxBP = [0.]
|
||||
ret.brakeMaxV = [0.]
|
||||
ret.longitudinalTuning.deadzoneBP = [0.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.]
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [0.]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [0.]
|
||||
|
||||
# end from gm
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
|
|
|
@ -18,17 +18,11 @@ class CarInterface(CarInterfaceBase):
|
|||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
|
||||
|
||||
ret = car.CarParams.new_message()
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
|
||||
|
||||
ret.carName = "toyota"
|
||||
ret.carFingerprint = candidate
|
||||
ret.isPandaBlack = has_relay
|
||||
|
||||
ret.safetyModel = car.CarParams.SafetyModel.toyota
|
||||
|
||||
ret.enableCruise = True
|
||||
|
||||
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
|
||||
ret.steerLimitTimer = 0.4
|
||||
|
||||
|
@ -49,19 +43,6 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.indi.outerLoopGain = 3.0
|
||||
ret.lateralTuning.indi.timeConstant = 1.0
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
|
||||
|
||||
# TODO: Determine if this is better than INDI
|
||||
# ret.lateralTuning.init('lqr')
|
||||
# ret.lateralTuning.lqr.scale = 1500.0
|
||||
# ret.lateralTuning.lqr.ki = 0.01
|
||||
|
||||
# ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
# ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
# ret.lateralTuning.lqr.c = [1., 0.]
|
||||
# ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
||||
# ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
|
||||
# ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
||||
|
||||
ret.steerActuatorDelay = 0.5
|
||||
|
||||
elif candidate in [CAR.RAV4, CAR.RAV4H]:
|
||||
|
@ -265,16 +246,6 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
tire_stiffness_factor=tire_stiffness_factor)
|
||||
|
||||
# no rear steering, at least on the listed cars above
|
||||
ret.steerRatioRear = 0.
|
||||
ret.steerControlType = car.CarParams.SteerControlType.torque
|
||||
|
||||
# steer, gas, brake limitations VS speed
|
||||
ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
|
||||
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
|
||||
ret.brakeMaxBP = [0.]
|
||||
ret.brakeMaxV = [1.]
|
||||
|
||||
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
|
||||
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
|
||||
smartDsu = 0x2FF in fingerprint[0]
|
||||
|
@ -301,8 +272,6 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.longitudinalTuning.deadzoneV = [0., .15]
|
||||
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
||||
ret.longitudinalTuning.kiBP = [0., 35.]
|
||||
ret.stoppingControl = False
|
||||
ret.startAccel = 0.0
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
ret.gasMaxBP = [0., 9., 35]
|
||||
|
|
|
@ -21,26 +21,18 @@ class CarInterface(CarInterfaceBase):
|
|||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
|
||||
ret = car.CarParams.new_message()
|
||||
|
||||
ret.carFingerprint = candidate
|
||||
ret.isPandaBlack = has_relay
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
|
||||
|
||||
if candidate == CAR.GOLF:
|
||||
# Set common MQB parameters that will apply globally
|
||||
ret.carName = "volkswagen"
|
||||
ret.radarOffCan = True
|
||||
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
|
||||
ret.enableCruise = True # Stock ACC still controls acceleration and braking
|
||||
ret.openpilotLongitudinalControl = False
|
||||
ret.steerControlType = car.CarParams.SteerControlType.torque
|
||||
|
||||
# Additional common MQB parameters that may be overridden per-vehicle
|
||||
ret.steerRateCost = 0.5
|
||||
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
|
||||
ret.steerLimitTimer = 0.4
|
||||
ret.steerMaxBP = [0.] # m/s
|
||||
ret.steerMaxV = [1.]
|
||||
|
||||
# As a starting point for speed-adjusted lateral tuning, use the example
|
||||
# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
|
||||
|
@ -68,19 +60,6 @@ class CarInterface(CarInterfaceBase):
|
|||
|
||||
ret.enableCamera = True # Stock camera detection doesn't apply to VW
|
||||
ret.transmissionType = car.CarParams.TransmissionType.automatic
|
||||
ret.steerRatioRear = 0.
|
||||
|
||||
# No support for OP longitudinal control on Volkswagen at this time.
|
||||
ret.gasMaxBP = [0.]
|
||||
ret.gasMaxV = [0.]
|
||||
ret.brakeMaxBP = [0.]
|
||||
ret.brakeMaxV = [0.]
|
||||
ret.longitudinalTuning.deadzoneBP = [0.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.]
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [0.]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [0.]
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
|
|
|
@ -1 +1 @@
|
|||
d8928803533f451657c247297c7eac694745f155
|
||||
8e94b45bbadf4355135e13905f3e8219ff122f7f
|
Loading…
Reference in New Issue