Split TSS2 RAV4 tuning based on fw version (#1558)
parent
a623ad2ab3
commit
bfe7cbfe5f
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@ -161,6 +161,12 @@ class CarInterface(CarInterfaceBase):
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ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00004
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for fw in car_fw:
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if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
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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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break
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elif candidate == CAR.RAV4H_TSS2:
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stop_and_go = True
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ret.safetyParam = 73
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@ -171,6 +177,12 @@ class CarInterface(CarInterfaceBase):
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ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00004
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for fw in car_fw:
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if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
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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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break
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elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
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stop_and_go = True
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ret.safetyParam = 73
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