103 lines
3.8 KiB
Python
Executable File
103 lines
3.8 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from common.conversions import Conversions as CV
|
|
from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
|
|
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
ButtonType = car.CarState.ButtonEvent.Type
|
|
EventName = car.CarEvent.EventName
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
|
|
@staticmethod
|
|
def compute_gb(accel, speed):
|
|
return float(accel) / 4.0
|
|
|
|
@staticmethod
|
|
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
|
|
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
|
|
|
ret.carName = "mazda"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
|
|
ret.radarOffCan = True
|
|
|
|
ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
|
|
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.steerRateCost = 1.0
|
|
ret.steerLimitTimer = 0.8
|
|
tire_stiffness_factor = 0.70 # not optimized yet
|
|
|
|
if candidate in (CAR.CX5, CAR.CX5_2022):
|
|
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 2.7
|
|
ret.steerRatio = 15.5
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
elif candidate in (CAR.CX9, CAR.CX9_2021):
|
|
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 3.1
|
|
ret.steerRatio = 17.6
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
elif candidate == CAR.MAZDA3:
|
|
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 2.7
|
|
ret.steerRatio = 14.0
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
elif candidate == CAR.MAZDA6:
|
|
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 2.83
|
|
ret.steerRatio = 15.5
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
if candidate not in (CAR.CX5_2022, ):
|
|
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
|
|
|
|
ret.centerToFront = ret.wheelbase * 0.41
|
|
|
|
# TODO: get actual value, for now starting with reasonable value for
|
|
# civic and scaling by mass and wheelbase
|
|
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
|
|
|
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
|
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
|
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
|
tire_stiffness_factor=tire_stiffness_factor)
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def update(self, c, can_strings):
|
|
|
|
self.cp.update_strings(can_strings)
|
|
self.cp_cam.update_strings(can_strings)
|
|
|
|
ret = self.CS.update(self.cp, self.cp_cam)
|
|
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
|
|
|
# events
|
|
events = self.create_common_events(ret)
|
|
|
|
if self.CS.lkas_disabled:
|
|
events.add(EventName.lkasDisabled)
|
|
elif self.CS.low_speed_alert:
|
|
events.add(EventName.belowSteerSpeed)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
self.CS.out = ret.as_reader()
|
|
return self.CS.out
|
|
|
|
def apply(self, c):
|
|
ret = self.CC.update(c, self.CS, self.frame)
|
|
self.frame += 1
|
|
return ret
|