mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-09-30 11:23:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

Toyota LTA: limit max angle with applied torque (#28848)

Browse Source 
* draft

* clean up

* there was a bug, need to subtract from last_angle essentially

* Revert "there was a bug, need to subtract from last_angle essentially"

This reverts commit a595e4af64523665519fd450dbeb2fefd293ce2b.

* maybe

* Revert "maybe"

This reverts commit cc96523cc28b82e74018011e5a476be2e6f68d92.

* or can do this

* this seems simpler and actually would work

* update comment

* fix that case

* joystick testing

* revert testing changes

* comment should be more clear

* can have full thing

* bump panda to lta

* revert cc

* this seems to work well

* constants

* try setme_x64

* 99 just winds up torque?!

* try less torque

* add corolla

* clean up

* clean up

* clean up

* clean up

* better name

* -which

* fix

* fix typo

* use params
old-commit-hash: c01ba907c0
This commit is contained in:
Shane Smiskol
2023-07-18 01:58:21 -07:00
committed by GitHub
parent e69c1bff7f
commit 9112df2b5e
2 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/toyota/carcontroller.py
+5 -1
View File
@@ -24,6 +24,7 @@ MAX_USER_TORQUE = 500
# LTA limits
# EPS ignores commands above this angle and causes PCS to fault
MAX_STEER_ANGLE = 94.9461 # deg
MAX_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes
class CarController:
@@ -94,7 +95,10 @@ class CarController:
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2))
full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
setme_x64 = 100 if lta_active and full_torque_condition else 0
can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
# *** gas and brake ***
if self.CP.enableGasInterceptor and CC.longActive:
selfdrive/car/toyota/toyotacan.py
+2 -2
View File
@@ -9,7 +9,7 @@ def create_steer_command(packer, steer, steer_req):
return packer.make_can_msg("STEERING_LKA", 0, values)
def create_lta_steer_command(packer, steer_angle, steer_req, frame):
def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
"""Creates a CAN message for the Toyota LTA Steer Command."""
values = {
@@ -17,7 +17,7 @@ def create_lta_steer_command(packer, steer_angle, steer_req, frame):
"SETME_X1": 1,
"SETME_X3": 3,
"PERCENTAGE": 100,
"SETME_X64": 0,
"SETME_X64": setme_x64,
"ANGLE": 0,
"STEER_ANGLE_CMD": steer_angle,
"STEER_REQUEST": steer_req,