mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-02 03:52:11 +08:00
Harald Schäfer
47d5601d8a
* Simplify long control * Seperate * Rename * Try new api for toyota * rm v_pid everywhere * No speed in reset * 0 is better default * unassigned variable * Update other cars * Update gm * SIMPLIFY * simplify more * fix API boundry * Fix stopping bug * Small fixes * Update ref old-commit-hash: bc303df6a0a4a9d52a2e92e5976b6c7aa5138b95
48 lines
1.8 KiB
Python
Executable File
48 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from panda import Panda
|
|
from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
|
|
from openpilot.selfdrive.car import get_safety_config
|
|
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
|
ret.carName = "tesla"
|
|
|
|
# There is no safe way to do steer blending with user torque,
|
|
# so the steering behaves like autopilot. This is not
|
|
# how openpilot should be, hence dashcamOnly
|
|
ret.dashcamOnly = True
|
|
|
|
ret.steerControlType = car.CarParams.SteerControlType.angle
|
|
|
|
ret.longitudinalActuatorDelay = 0.5 # s
|
|
ret.radarTimeStep = (1.0 / 8) # 8Hz
|
|
|
|
# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
|
|
# If so, we assume that it is connected to the longitudinal harness.
|
|
flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
|
|
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
|
|
ret.openpilotLongitudinalControl = True
|
|
flags |= Panda.FLAG_TESLA_LONG_CONTROL
|
|
ret.safetyConfigs = [
|
|
get_safety_config(car.CarParams.SafetyModel.tesla, flags),
|
|
get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
|
|
]
|
|
else:
|
|
ret.openpilotLongitudinalControl = False
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
|
|
|
|
ret.steerLimitTimer = 1.0
|
|
ret.steerActuatorDelay = 0.25
|
|
return ret
|
|
|
|
def _update(self, c):
|
|
ret = self.CS.update(self.cp, self.cp_cam)
|
|
|
|
ret.events = self.create_common_events(ret).to_msg()
|
|
|
|
return ret
|