mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-27 17:42:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

Subaru: use carParams flags in interface (#31653)

Browse Source 
* Subaru: don't use platform flags

* clean up
old-commit-hash: 0fa3445ddb829122fc8d67cd6aab7b9842a6e089
This commit is contained in:
Shane Smiskol
2024-02-29 17:19:31 -06:00
committed by GitHub
parent b3bb450e4a
commit 03d35a8b09
1 changed files with 10 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/subaru/interface.py
+10 -13
View File
@@ -10,47 +10,45 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
platform_flags = candidate.config.flags
ret.carName = "subaru"
ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need:
# - replacement for ES_Distance so we can cancel the cruise control
# - to find the Cruise_Activated bit from the car
# - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
ret.dashcamOnly = bool(platform_flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.autoResumeSng = False
# Detect infotainment message sent from the camera
if not (platform_flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
if platform_flags & SubaruFlags.PREGLOBAL:
if ret.flags & SubaruFlags.PREGLOBAL:
ret.enableBsm = 0x25c in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
else:
ret.enableBsm = 0x228 in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
if platform_flags & SubaruFlags.GLOBAL_GEN2:
if ret.flags & SubaruFlags.GLOBAL_GEN2:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
ret.steerLimitTimer = 0.4
ret.steerActuatorDelay = 0.1
if platform_flags & SubaruFlags.LKAS_ANGLE:
if ret.flags & SubaruFlags.LKAS_ANGLE:
ret.steerControlType = car.CarParams.SteerControlType.angle
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
elif candidate == CAR.IMPREZA:
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
@@ -85,12 +83,11 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"unknown car: {candidate}")
LONG_UNAVAILABLE = SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL| SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID
ret.experimentalLongitudinalAvailable = not (platform_flags & LONG_UNAVAILABLE)
ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
if platform_flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
if ret.openpilotLongitudinalControl: