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Highlander: merge params (#25210)

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* merge highlander params

* weight is average of tss normal/hybrid and tss2 normal/hybrid
This commit is contained in:
Shane Smiskol
2022-07-18 23:54:45 -07:00
committed by GitHub
parent b5e3678245
commit 5ea641b79a
1 changed files with 3 additions and 11 deletions
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selfdrive/car/toyota/interface.py
+3 -11
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@@ -93,20 +93,12 @@ class CarInterface(CarInterfaceBase):
if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):