Toyota interface.py refactor. Move default long tune before candidate check. (#19652)
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793f179322
commit
d632cddabb
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@ -24,6 +24,14 @@ class CarInterface(CarInterfaceBase):
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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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# 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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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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@ -307,21 +315,11 @@ class CarInterface(CarInterfaceBase):
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# intercepting the DSU is a community feature since it requires unofficial hardware
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ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
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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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if ret.enableGasInterceptor:
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ret.gasMaxBP = [0., 9., 35]
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ret.gasMaxV = [0.2, 0.5, 0.7]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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else:
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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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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return ret
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