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FrogPilot 0.9.7

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FrogAi
2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
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selfdrive/car/subaru/interface.py
+16 -9
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@@ -1,22 +1,25 @@
from cereal import car
from cereal import car, custom
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
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(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.dashcamOnly = bool(ret.flags & (SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.autoResumeSng = False
# Detect infotainment message sent from the camera
@@ -50,9 +53,9 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.SUBARU_IMPREZA:
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kf = 0.00003333
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]]
elif candidate == CAR.SUBARU_IMPREZA_2020:
ret.lateralTuning.init('pid')
@@ -97,13 +100,17 @@ class CarInterface(CarInterfaceBase):
return ret
# returns a car.CarState
def _update(self, c):
def _update(self, c, frogpilot_toggles):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_toggles)
ret.buttonEvents = [
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
]
ret.events = self.create_common_events(ret).to_msg()
return ret
return ret, fp_ret
@staticmethod
def init(CP, logcan, sendcan):