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Latcontrol torque: max_torque rename (#24265)

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old-commit-hash: 506650bab66ae1d28f76526ffcb73470b755c170
This commit is contained in:
HaraldSchafer
2022-04-20 11:26:24 -07:00
committed by GitHub
parent 8ddeb3f531
commit ef41004968
2 changed files with 6 additions and 6 deletions
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selfdrive/car/toyota/interface.py
+2 -2
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@@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=2.5, FRICTION=0.06)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06)
elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70
@@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=3.0, FRICTION=0.08)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=3.0, FRICTION=0.08)
elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
stop_and_go = True
selfdrive/car/toyota/tunes.py
+4 -4
View File
@@ -50,13 +50,13 @@ def set_long_tune(tune, name):
###### LAT ######
def set_lat_tune(tune, name, MAX_TORQUE=2.5, FRICTION=.1):
def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
if name == LatTunes.TORQUE:
tune.init('torque')
tune.torque.useSteeringAngle = True
tune.torque.kp = 2.0 / MAX_TORQUE
tune.torque.kf = 1.0 / MAX_TORQUE
tune.torque.ki = 0.5 / MAX_TORQUE
tune.torque.kp = 2.0 / MAX_LAT_ACCEL
tune.torque.kf = 1.0 / MAX_LAT_ACCEL
tune.torque.ki = 0.5 / MAX_LAT_ACCEL
tune.torque.friction = FRICTION
elif name == LatTunes.INDI_PRIUS:
tune.init('indi')