From bb2af14dab9dfc079a89629a61319457e42b39f2 Mon Sep 17 00:00:00 2001 From: arne182 Date: Fri, 9 Nov 2018 22:36:34 +0100 Subject: [PATCH 1/2] 0x470 for RAV4H (#428) @squall and me have checked the dsu static values for our RAV4H and found that this is similar to the highlander message. --- selfdrive/car/toyota/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 8f00d7596..d4929e7bc 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -52,8 +52,8 @@ STATIC_MSGS = [ (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'), (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'), (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'), - (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'), - (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x01\x79'), + (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'), + (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H), 1, 100, '\x00\x00\x01\x79'), (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'), (0x292, ECU.APGS, (CAR.PRIUS), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'), From 4680447dd0635fc0cc0b333c268bd0c6c4f5cc9f Mon Sep 17 00:00:00 2001 From: rbiasini Date: Tue, 13 Nov 2018 14:36:29 -0800 Subject: [PATCH 2/2] Revert "Honda Pilot tuning / lane centering fixes (#408)" (#433) This reverts commit c6be3e2ed54924319742a6475d11d839fd4ea185. --- selfdrive/car/honda/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 3098f3768..42eb041f3 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -294,8 +294,8 @@ class CarInterface(object): ret.wheelbase = 2.81 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # as spec - tire_stiffness_factor = 0.82 - ret.steerKpV, ret.steerKiV = [[0.5], [0.22]] + tire_stiffness_factor = 0.444 # not optimized yet + ret.steerKpV, ret.steerKiV = [[0.38], [0.11]] ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5] ret.longitudinalKiBP = [0., 35.]