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* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)

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Rick Lan
2020-11-04 10:40:48 +10:00
parent 4a3d5e2182
commit 3cb8df8c49
5 changed files with 26 additions and 9 deletions
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CHANGELOGS-DEV.md
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dragonpilot 0.7.10.1
========================
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
dragonpilot 0.7.10.0
========================
* 基於最新 openpilot 0.7.10 devel.
@@ -6,8 +11,6 @@ dragonpilot 0.7.10.0
* Fixed unable to regain Prius steering control under certain condition.
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
* Updated support of VW MQB. (scripts/vw.sh script required)
* 加入 HKG mdps/sas 的支援。(需執行 scripts/hkg.sh 腳本)
* Added support to HKG mdps/sas. (scripts/hkg.sh script required)
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
@@ -19,6 +22,8 @@ dragonpilot 0.7.10.0
* Based on latest openpilot 0.7.10 devel.
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
dragonpilot 0.7.8.3
========================
CHANGELOGS-REL.md
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@@ -6,8 +6,6 @@ dragonpilot 0.7.10.0
* Fixed unable to regain Prius steering control under certain condition.
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
* Updated support of VW MQB. (scripts/vw.sh script required)
* 加入 HKG mdps/sas 的支援。(需執行 scripts/hkg.sh 腳本)
* Added support to HKG mdps/sas. (scripts/hkg.sh script required)
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
@@ -19,6 +17,8 @@ dragonpilot 0.7.10.0
* Based on latest openpilot 0.7.10 devel.
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
dragonpilot 0.7.8
========================
CHANGELOGS.md
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@@ -1,3 +1,8 @@
2020-11-04 (0.7.10.0)
========================
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
2020-10-30 (0.7.10.0)
========================
* 基於最新 openpilot 0.7.10 devel.
selfdrive/car/hyundai/interface.py
+10 -3
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@@ -81,9 +81,16 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
# dp - indi value from donfyffe
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.1
ret.lateralTuning.indi.outerLoopGain = 2.1
ret.lateralTuning.indi.timeConstant = 1.4
ret.lateralTuning.indi.actuatorEffectiveness = 1.3
# ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
# ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
# ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1640. + STD_CARGO_KG
selfdrive/controls/controlsd.py
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@@ -108,12 +108,12 @@ class Controls:
if params.get('dp_lqr') == b'1':
self.LaC = LatControlLQR(self.CP)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
self.state = State.disabled
self.enabled = False