Merge commit '31de3f60274caa723ce3b67b3152fa29d194165a'

Conflicts: selfdrive/car/toyota/interface.py
cfranyota · Jun 23, 2022 · 98c08a2 · 98c08a2
2 parents cd24dc8 + 31de3f6
commit 98c08a2
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -60,7 +60,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
       # TODO override until there is enough data
-      ret.maxLateralAccel = 1.8
       torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
       set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
@@ -70,15 +69,15 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
       ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     elif candidate == CAR.COROLLA:
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       if Params().get_bool('Torque'):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.7, FRICTION=0.023)
+        set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
       else:
         set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
 
@@ -106,7 +105,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       if Params().get_bool('Torque'):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+        set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
       else:
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
@@ -143,7 +142,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
       if Params().get_bool('Torque'):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06)
+        set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
       else:
         set_lat_tune(ret.lateralTuning, LatTunes.INDI_RAV4_TSS2)
 
@@ -164,7 +163,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
       if Params().get_bool('Torque'):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.06)
+        set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
       else:
         set_lat_tune(ret.lateralTuning, LatTunes.INDI_COROLLA_TSS2)
 
@@ -214,7 +213,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
       if Params().get_bool('Torque'):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.009141, FRICTION=0.112391)
+        set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
+        #set_torque_tune(ret.lateralTuning, 2.0, 0.11)
       else:
         set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS_TSS2)
         ret.steerActuatorDelay = 0.3
@@ -228,7 +228,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       tire_stiffness_factor = 0.8
       ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
       if Params().get_bool('Torque'):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.08)
+        set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
       else:
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)