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Merge branch 'devel-en' into devel-zhs

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dragonpilot
2019-09-28 16:39:06 +10:00
parent 168107625a 1d2ea64938
commit 979e5055e5
4 changed files with 12 additions and 10 deletions
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1
opendbc/lexus_is_2018_pt_generated.dbc
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@@ -365,6 +365,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
BO_ 610 EPS_STATUS: 5 EPS
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

3
opendbc/lexus_is_hybrid_2017_pt_generated.dbc
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@@ -361,6 +361,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
BO_ 610 EPS_STATUS: 5 EPS
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -385,4 +386,4 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

4
selfdrive/car/toyota/carstate.py
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@@ -89,7 +89,7 @@ def get_can_parser(CP):
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
if CP.carFingerprint in NO_DSU_CAR:
if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
if CP.carFingerprint == CAR.PRIUS:
@@ -183,7 +183,7 @@ class CarState(object):
self.a_ego = float(v_ego_x[1])
self.standstill = not v_wheel > 0.001
if self.CP.carFingerprint in TSS2_CAR:
if self.CP.carFingerprint in TSS2_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
elif self.CP.carFingerprint in NO_DSU_CAR:
# cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.

14
selfdrive/controls/lib/pathplanner.py
View File

@@ -30,7 +30,7 @@ class PathPlanner(object):
self.setup_mpc(CP.steerRateCost)
self.solution_invalid_cnt = 0
self.path_offset_i = 0.0
self.curvature_offset = CurvatureLearner(debug=False)
#self.curvature_offset = CurvatureLearner(debug=False)
def setup_mpc(self, steer_rate_cost):
self.libmpc = libmpc_py.libmpc
@@ -60,13 +60,13 @@ class PathPlanner(object):
# Run MPC
self.angle_steers_des_prev = self.angle_steers_des_mpc
VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
# curvature_factor = VM.curvature_factor(v_ego)
if active:
curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego)
else:
curvfac = 0.
curvature_factor = VM.curvature_factor(v_ego)
#if active:
# curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego)
#else:
# curvfac = 0.
curvature_factor = VM.curvature_factor(v_ego) + curvfac
#curvature_factor = VM.curvature_factor(v_ego) + curvfac
# TODO: Check for active, override, and saturation
# if active: