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Toyota: use torque control for Japanese-made 2023 RAV4 (#29896)

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* use torque for 2023 RAV4s that allow it

* FW

* better cmt

* better

* better values comment

* switch

* add torque params

* simpler

* better to use steerControlType

* ???

* fix condition

* adjust params

* pid is only for old cars

* add comment

* move comment up

* one if

fix

* invert

* better comment

* better here

* for

* add torque hybrid test route

* fix condition

* this might be simpler

* back to one if

fix

* better name

* other way

* this reads so much better

* last change

* better

* did i break ci?
This commit is contained in:
Shane Smiskol
2023-09-14 14:48:12 -07:00
committed by GitHub
parent 880157f5a6
commit 9dfd0579d4
4 changed files with 32 additions and 26 deletions
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selfdrive/car/torque_data/override.yaml
+2 -4
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@@ -12,10 +12,6 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan]
SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
SUBARU ASCENT 2023: [.nan, 3.0, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
# Tesla has high torque
TESLA AP1 MODEL S: [.nan, 2.5, .nan]
TESLA AP2 MODEL S: [.nan, 2.5, .nan]
@@ -61,6 +57,8 @@ HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
TOYOTA RAV4 2023: [2.5, 2.5, 0.1]
TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]