From 355dc142ed44df5deb981b418fd8e6e098c9e524 Mon Sep 17 00:00:00 2001 From: jakethesake420 Date: Wed, 25 Sep 2024 08:48:20 -0500 Subject: [PATCH] update fingerprint and nnff tune --- selfdrive/car/fingerprints.py | 3 +++ selfdrive/car/mazda/fingerprints.py | 6 +++--- selfdrive/car/torque_data/lat_models/MAZDA_3_2019.json | 1 + selfdrive/car/torque_data/lat_models/MAZDA_CX9_2021.json | 1 + selfdrive/car/torque_data/lat_models/MAZDA_CX_30.json | 1 + selfdrive/car/torque_data/lat_models/MAZDA_CX_50.json | 1 + selfdrive/car/torque_data/override.toml | 6 +++--- 7 files changed, 13 insertions(+), 6 deletions(-) create mode 100644 selfdrive/car/torque_data/lat_models/MAZDA_3_2019.json create mode 100644 selfdrive/car/torque_data/lat_models/MAZDA_CX9_2021.json create mode 100644 selfdrive/car/torque_data/lat_models/MAZDA_CX_30.json create mode 100644 selfdrive/car/torque_data/lat_models/MAZDA_CX_50.json diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 1128a31c2..5b62759f3 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -255,6 +255,9 @@ MIGRATION = { "MAZDA 6": MAZDA.MAZDA_6, "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021, "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022, + "MAZDA 3 2019": MAZDA.MAZDA_3_2019, + "MAZDA CX-30": MAZDA.MAZDA_CX_30, + "MAZDA CX-50": MAZDA.MAZDA_CX_50, "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL, "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF, "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC, diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py index e3309f278..36f841d6d 100644 --- a/selfdrive/car/mazda/fingerprints.py +++ b/selfdrive/car/mazda/fingerprints.py @@ -262,7 +262,7 @@ FW_VERSIONS = { b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, - CAR.MAZDA_3_2019 : { + CAR.MAZDA_3_2019: { (Ecu.eps, 0x730, None): [ b'BDGF-3216X-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'BCKA-3216X-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -302,7 +302,7 @@ FW_VERSIONS = { b'PX4K-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, - CAR.MAZDA_CX_30 : { + CAR.MAZDA_CX_30: { (Ecu.eps, 0x730, None): [ b'DFR5-3216X-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'BDGF-3216X-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -327,7 +327,7 @@ FW_VERSIONS = { ], }, - CAR.MAZDA_CX_50 : { + CAR.MAZDA_CX_50: { (Ecu.eps, 0x730, None): [ b'VA40-3216Y-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], diff --git a/selfdrive/car/torque_data/lat_models/MAZDA_3_2019.json b/selfdrive/car/torque_data/lat_models/MAZDA_3_2019.json new file mode 100644 index 000000000..513f70077 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/MAZDA_3_2019.json @@ -0,0 +1 @@ +{"input_std":[[8.240451],[1.3903464],[0.9977792],[0.043660074],[1.3842584],[1.3837968],[1.3868496],[1.386552],[1.3898685],[1.392051],[1.3901975],[0.0433341],[0.04344107],[0.04354248],[0.04396668],[0.04406914],[0.043996047],[0.04384657]],"model_test_loss":0.07118112593889236,"input_size":18,"current_date_and_time":"2024-01-04_18-13-40","input_mean":[[18.140308],[-0.14434622],[-0.05116544],[-0.006497747],[-0.12525076],[-0.1306694],[-0.13679735],[-0.16274568],[-0.18225995],[-0.20470445],[-0.23558204],[-0.0058613033],[-0.0060477066],[-0.0062529203],[-0.0070332093],[-0.007344748],[-0.0076363706],[-0.008045442]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[0.16996773],[-3.213986],[1.2055689],[0.032448564],[0.7670069],[-0.3413765],[-0.28398478]],"dense_1_W":[[-0.26968637,-2.0965617,0.041936163,1.6824912,0.34016955,0.34617305,-0.144928,1.7710819,1.255231,-0.33628803,-0.836796,0.39509973,0.2062392,-1.753801,-0.87201834,-0.54353064,0.3316189,-0.5840433],[-2.7173016,-0.20058744,-0.47265902,-1.1676506,0.7352417,-0.27338862,-0.5374386,0.14545111,0.2136938,0.46333405,0.5147293,-0.08832196,-0.3153256,-0.13441245,-1.3377413,0.08164061,1.1587418,2.9069765],[4.7155333,-0.4111936,-0.017104529,-0.3089753,-1.0227612,-0.42986774,0.10240389,-0.54502726,-0.030185381,0.523858,1.643562,-0.69876254,-0.007004196,0.051910922,0.5247027,2.7029126,2.1914258,0.6790698],[1.2123786,-0.0860833,-0.12931383,-0.46046653,-0.34697834,-0.24580085,0.2568214,-0.3440042,-0.0068678097,-0.9818526,0.117144085,-0.1242694,-0.5734166,-0.18849625,0.858646,-0.16852443,0.97823405,-0.18384106],[-0.1612652,2.2449064,0.048637886,2.3204753,-0.30808225,0.8794119,-0.8103697,-0.5479202,0.5037483,1.4374173,-6.0008464,-0.5869565,-0.26925984,-0.19727024,-0.9475855,0.3476064,0.3466487,-0.5507426],[0.052032948,1.4499305,0.052581828,-0.0021174331,1.0438824,-0.052757207,0.48800945,-0.4987024,-0.16778474,-0.23970774,0.57136106,-0.4958751,-0.365608,-0.4911478,0.96348923,0.030848188,2.3475068,-1.9602941],[0.8729057,-1.321538,0.10383748,0.7672292,1.9358096,0.092829175,-1.3002172,0.8002762,-0.28502098,2.461627,-0.97035897,0.63108075,0.5661149,-0.16579424,-1.4419068,-0.59449154,-0.35215476,0.38893187]],"activation":"σ"},{"dense_2_W":[[-0.6724862,-0.44539666,-0.1965087,0.7515951,0.4915091,-0.7154667,-0.85374117],[-1.4843321,-0.038614944,-0.9236606,1.2437263,1.2599312,-0.38952112,-0.8681901],[0.83895814,-0.30046222,0.08557009,-0.16133045,0.17472632,-0.4743934,0.4519943],[-0.22367074,-0.22562753,-0.4674086,-0.4606983,0.5372597,-0.99529797,-0.16812222],[0.18141878,1.3422452,-0.5627226,-1.4087596,-0.23479354,0.87819785,0.43504742],[0.24506971,1.5096623,-0.0018433272,-1.3755374,-1.9033629,0.14769824,0.29038295],[0.62686086,-0.51021343,-1.1776867,-0.85688186,-0.83907884,0.5677799,-1.3149958],[-0.50265265,-0.61367327,-0.013444785,0.38111517,-0.7611472,0.028950267,-0.8311234],[-0.8030081,0.20218633,0.11094239,0.58715427,-1.9913747,-0.58768713,0.98251027],[0.05422856,-0.6285679,-0.14482056,0.058963254,0.12918952,0.11514997,0.1435684],[-0.1294144,0.14131477,0.31834623,0.7220593,-0.41774216,0.96011454,0.33043256],[-0.06693929,1.1445152,0.6101988,-0.49009523,0.23868123,-0.29093015,-0.28275454],[-0.45465142,-0.81871647,-0.54707927,0.30389842,-0.09784047,0.05067817,0.093028255]],"activation":"σ","dense_2_b":[[0.2545153],[0.4477447],[-0.22958155],[-0.011267892],[-0.5887796],[-0.17223372],[0.0383008],[-0.1462312],[-0.38957217],[-0.15600504],[-0.19740508],[0.47160026],[-0.08942332]]},{"dense_3_W":[[0.72453237,0.34605396,0.24686259,0.014756596,-0.4195214,-0.39652947,0.7304959,-0.5260529,0.63573647,-0.6177225,-0.48505187,0.6531488,-0.48042667],[0.7474908,0.38817906,-0.18763384,0.09620368,-0.16634499,0.3897408,-0.009424537,-0.05535974,0.28954422,-0.18497191,-0.6131593,0.58886355,-0.023465252],[0.31225562,0.16368869,-0.35660914,0.26580867,-0.29150864,-0.49009416,-0.054489538,0.39325443,0.07155023,-0.43006027,-0.05959868,-0.24898362,0.07272841]],"activation":"identity","dense_3_b":[[-0.02372671],[-0.015197248],[-0.0017456658]]},{"dense_4_W":[[-0.93516773,-0.7147324,-0.87491685]],"dense_4_b":[[0.01047942]],"activation":"identity"}]} \ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/MAZDA_CX9_2021.json b/selfdrive/car/torque_data/lat_models/MAZDA_CX9_2021.json new file mode 100644 index 000000000..bda8ada35 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/MAZDA_CX9_2021.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/MAZDA_CX_30.json b/selfdrive/car/torque_data/lat_models/MAZDA_CX_30.json new file mode 100644 index 000000000..513f70077 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/MAZDA_CX_30.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/MAZDA_CX_50.json b/selfdrive/car/torque_data/lat_models/MAZDA_CX_50.json new file mode 100644 index 000000000..513f70077 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/MAZDA_CX_50.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index 536ef8649..340e89522 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -80,6 +80,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "HONDA_CIVIC_2022" = [2.5, 1.2, 0.15] "HONDA_HRV_3G" = [2.5, 1.2, 0.2] -"MAZDA 3 2019" = [1.45, 3.0, 0.33] -"MAZDA CX-30" = [1.45, 3.0, 0.33] -"MAZDA CX-50" = [1.45, 3.0, 0.33] +"MAZDA_3_2019" = [1.45, 3.0, 0.33] +"MAZDA_CX_30" = [1.45, 3.0, 0.33] +"MAZDA_CX_50" = [1.45, 3.0, 0.33]