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DragonPilot's Toyota tune

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Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-03-25 20:04:53 -07:00
parent 09b75e3873
commit 06371a7b62
3 changed files with 16 additions and 0 deletions
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common/params.cc
+1
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@@ -253,6 +253,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DisableOnroadUploads", PERSISTENT},
{"DisableOpenpilotLongitudinal", PERSISTENT},
{"DisengageVolume", PERSISTENT},
{"DragonPilotTune", PERSISTENT},
{"DynamicPathWidth", PERSISTENT},
{"EngageVolume", PERSISTENT},
{"FrogPilotTogglesUpdated", PERSISTENT},
selfdrive/car/toyota/interface.py
+14
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@@ -163,6 +163,20 @@ class CarInterface(CarInterfaceBase):
tune.kpV = [0.8, 1.]
tune.kiBP = [0., 5.]
tune.kiV = [0.3, 1.]
elif (candidate in TSS2_CAR or ret.enableGasInterceptor) and params.get_bool("DragonPilotTune"):
# Credit goes to the DragonPilot team!
tune.deadzoneBP = [0., 16., 20., 30.]
tune.deadzoneV = [0., .03, .06, .15]
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
# In MPH = [ 0, 27, 45, 60, 89]
tune.kiBP = [ 0., 12., 20., 27., 40.]
tune.kiV = [.35, .215, .195, .10, .01]
if candidate in TSS2_CAR:
ret.vEgoStopping = 0.1 # car is near 0.1 to 0.2 when car starts requesting stopping accel
ret.vEgoStarting = 0.1 # needs to be > or == vEgoStopping
ret.stopAccel = -0.40 # Toyota requests -0.4 when stopped
ret.stoppingDecelRate = 0.5 # reach stopping target smoothly
elif candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc
+1
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@@ -31,6 +31,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
std::vector<std::pair<QString, QString>> tuneOptions{
{"StockTune", tr("Stock")},
{"CydiaTune", tr("Cydia")},
{"DragonPilotTune", tr("DragonPilot")},
};
toggle = new FrogPilotButtonsParamControl(param, title, desc, icon, tuneOptions);