mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-18 13:33:53 +08:00
Shane Smiskol
472d08fc2c
* test out lta message * correctly send * percentage is percentage driver isn't overriding * closer to stock system * should be able to send LTA at 100hz, counter is the same as LKA * small amount of torque towards desired * Offset commanded torque correctly * Too little torque * use car's SETME's * Revert "use car's SETME's" This reverts commit c88856969995f97cc5ec4e2b24a5cc4e3ef4721a. * try cutting steer every second * Didn't seem to matter This reverts commit 6923498b2a9eed8beb3998f441899f1df4948f6f. * steer to 0 * let packer set counter * add for camry * log steer faults * comments * bump opendbc * add opParams * add lta safety * set safety param * fix torque control bug * bump panda * fix missing signal * [experiment] apply some rate limiting and anti-windup * no faults, clip to 90 deg, decent torque blending * clean up blending * toyota angle rate limits * use std angle limits * assert we only add angle control to TSS2 cars * clean up carcontroller a bit * space space * bump opendbc * clean up toyotacan from opendbc change * bump panda * will tests run? * steer at zero * refactor angle to use LatControlPID with zero gains * stop some faults and tuning * possibly fix integral wind up at max torque * Add 2023 rav4 * limit torque inside EPS when overriding (no huge windup in edge cases when overriding) * fix wind up issue after turns (or prolonged saturation) * this doesn't work that well * try these limits * try this * log the angle! * global variable * Apply suggestions from code review * clip angle to 3 m/s/s * some tolerance for roll * raise limits a bit * bumppanda * fix faults * still not good * offsetting causing hugging? * Revert "offsetting causing hugging?" This reverts commit a42ec0b772ed74a1fd54b7fef2e7c275a3e8333b. * reduce kp * class var not needed * limit up angle delta * fix saturation check * feedforward includes offset * some threshold for roll * bump panda * surely we don't need this * test stuff * Toyota: Add FW for 2023 RAV4 Hybrid (#27494) * Toyota: Add FW for 2023 RAV4 Hybrid * Set RAVH_TSS2_2022 to use angle SteerControlType * bump panda * remove extras * Revert "remove extras" This reverts commit 87378e734915c107f57f99a5feef4dcb2b2a9a37. * no max angle limit for now * add as separate platforms * remove debug scripts * revert to master * remove these FW versions from 2022 * dashcam these cars :( * fix test * interface * add to untested routes * never send torque with LTA cars * fix values * clean up controlsd * reset lat control files * use the car param * add to params * bump panda to master * Update selfdrive/car/toyota/carcontroller.py * don't set torque params if angle control (fixes controlsd bug) * reset controlsd * keyword * in another pr * simplify test * rm line * Update selfdrive/car/toyota/tests/test_toyota.py --------- Co-authored-by: crispbee <84819466+crispbee@users.noreply.github.com> old-commit-hash: 57c4d78869ad197189427ab68c45ac8cc7bbd9d0
53 lines
1.6 KiB
YAML
53 lines
1.6 KiB
YAML
legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
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### angle control
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# Nissan appears to have torque
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NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
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NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
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NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
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NISSAN LEAF 2018: [.nan, 1.5, .nan]
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NISSAN ROGUE 2019: [.nan, 1.5, .nan]
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# Toyota LTA also has torque
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TOYOTA RAV4 2023: [.nan, 3.0, .nan]
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TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
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# Tesla has high torque
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TESLA AP1 MODEL S: [.nan, 2.5, .nan]
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TESLA AP2 MODEL S: [.nan, 2.5, .nan]
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# Guess
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FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
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FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
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FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
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FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
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FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
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###
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# No steering wheel
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COMMA BODY: [.nan, 1000, .nan]
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# Totally new cars
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RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
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RAM HD 5TH GEN: [1.4, 1.4, 0.0]
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SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
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CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
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CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
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CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
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CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
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VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
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VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
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HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
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KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
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KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
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GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
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KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
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GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
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KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
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KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
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# Dashcam or fallback configured as ideal car
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mock: [10.0, 10, 0.0]
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# Manually checked
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HONDA CIVIC 2022: [2.5, 1.2, 0.15]
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