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Mazda: use torque controller (#25265)

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* Mazda: use torque controller

* update refs

* update refs
old-commit-hash: 347455325e5cd67e0697708ac980782aec2c3b33
This commit is contained in:
Adeeb Shihadeh
2022-07-25 15:16:38 -07:00
committed by GitHub
parent 35f6a6d632
commit 1b33f98d81
2 changed files with 3 additions and 13 deletions
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selfdrive/car/mazda/interface.py
+2 -12
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@@ -28,34 +28,24 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.CX5, CAR.CX5_2022):
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in (CAR.CX9, CAR.CX9_2021):
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.1
ret.steerRatio = 17.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 14.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
if candidate not in (CAR.CX5_2022, ):
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
ee36966d20fa63ed4b9488bbc75d61e95e464cb7
2da0446f3cc0c4fd705f7b199ed1d9e6341fc466