From c1e2a1e9be5c9620fbb29cb1418472f256c4a2c2 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 3 Jul 2019 12:25:35 -0700
Subject: [PATCH 1/4] Make build deterministic and do not rebuild on release2
 (#729)

* sort dbc files to make linking deterministic

* touch all files on release2 checkout to prevent rebuild
---
 launch_chffrplus.sh    | 13 ++++++++++---
 selfdrive/can/Makefile |  2 +-
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 4aa9d402b..287c72a78 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -13,9 +13,16 @@ fi
 function launch {
   # apply update
   if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-     git reset --hard @{u} &&
-     git clean -xdf &&
-     exec "${BASH_SOURCE[0]}"
+    git reset --hard @{u} &&
+    git clean -xdf &&
+
+    # Touch all files on release2 after checkout to prevent rebuild
+    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+    if [[ "$BRANCH" == "release2" ]]; then
+        touch **
+    fi
+
+    exec "${BASH_SOURCE[0]}"
   fi
 
   # no cpu rationing for now
diff --git a/selfdrive/can/Makefile b/selfdrive/can/Makefile
index e53a0730d..a9ee1e686 100644
--- a/selfdrive/can/Makefile
+++ b/selfdrive/can/Makefile
@@ -38,7 +38,7 @@ OBJDIR = obj
 
 OPENDBC_PATH := $(shell python2 -c 'import opendbc; print opendbc.DBC_PATH')
 
-DBC_SOURCES := $(wildcard $(OPENDBC_PATH)/*.dbc)
+DBC_SOURCES := $(sort $(wildcard $(OPENDBC_PATH)/*.dbc))
 DBC_OBJS := $(patsubst $(OPENDBC_PATH)/%.dbc,$(OBJDIR)/%.o,$(DBC_SOURCES))
 DBC_CCS := $(patsubst $(OPENDBC_PATH)/%.dbc,dbc_out/%.cc,$(DBC_SOURCES))
 .SECONDARY: $(DBC_CCS)

From 28419d09da52260f7d7fc5d6713d143f8b467844 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 3 Jul 2019 15:53:49 -0700
Subject: [PATCH 2/4] Fix run_docker_tests.sh (#730)

---
 .travis.yml         | 18 +-----------------
 run_docker_tests.sh | 18 +++++++++---------
 2 files changed, 10 insertions(+), 26 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 52a420442..8683d8bee 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -3,21 +3,5 @@ sudo: required
 services:
   - docker
 
-install:
-  - docker build -t tmppilot -f Dockerfile.openpilot .
-
 script:
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
-  - docker run
-      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+  - ./run_docker_tests.sh
diff --git a/run_docker_tests.sh b/run_docker_tests.sh
index dc629e613..10d1bbc83 100755
--- a/run_docker_tests.sh
+++ b/run_docker_tests.sh
@@ -3,12 +3,12 @@ set -e
 
 docker build -t tmppilot -f Dockerfile.openpilot .
 
-docker run --rm \
-  tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
-docker run --rm \
-  tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
-docker run --rm \
-  tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
-docker run --rm \
-  -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out \
-  tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
+docker run --rm -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'

From affbdfafcd0a7ea1b4f9d39a01aa9301c23efc5d Mon Sep 17 00:00:00 2001
From: dekerr <dkerr2@mix.wvu.edu>
Date: Mon, 8 Jul 2019 19:59:32 -0400
Subject: [PATCH 3/4] Refactor default Civic params (#720)

* move civic params out

* fix variable name

* simplify ford scaling

* cleanup

* remove import dependency

* requested changes

* keep hyundai
---
 selfdrive/car/__init__.py           | 28 ++++++++++++++++++++++++
 selfdrive/car/chrysler/interface.py | 23 +++----------------
 selfdrive/car/ford/interface.py     | 31 +++++---------------------
 selfdrive/car/gm/interface.py       | 25 +++++----------------
 selfdrive/car/honda/interface.py    | 30 ++++++-------------------
 selfdrive/car/hyundai/interface.py  | 27 +++++------------------
 selfdrive/car/subaru/interface.py   | 24 +++-----------------
 selfdrive/car/toyota/interface.py   | 34 ++++++++---------------------
 8 files changed, 65 insertions(+), 157 deletions(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index bb996e588..3b259c622 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -3,6 +3,34 @@ from common.numpy_fast import clip
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
+
+# FIXME: hardcoding honda civic 2016 touring params so they can be used to
+# scale unknown params for other cars
+class CivicParams:
+  MASS = 1326. + STD_CARGO_KG
+  WHEELBASE = 2.70
+  CENTER_TO_FRONT = WHEELBASE * 0.4
+  CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
+  ROTATIONAL_INERTIA = 2500
+  TIRE_STIFFNESS_FRONT = 192150
+  TIRE_STIFFNESS_REAR = 202500
+
+# TODO: get actual value, for now starting with reasonable value for
+# civic and scaling by mass and wheelbase
+def scale_rot_inertia(mass, wheelbase):
+  return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2)
+
+# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+# mass and CG position, so all cars will have approximately similar dyn behaviors
+def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0):
+  center_to_rear = wheelbase - center_to_front
+  tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \
+                         (center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE)
+
+  tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \
+                        (center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE)
+
+  return tire_stiffness_front, tire_stiffness_rear
     
 def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 6621c7e20..793f73208 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
 from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
 
 class CarInterface(object):
@@ -51,16 +51,6 @@ class CarInterface(object):
     # pedal
     ret.enableCruise = True
 
-    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
-    mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
-    wheelbase_civic = 2.70
-    centerToFront_civic = wheelbase_civic * 0.4
-    centerToRear_civic = wheelbase_civic - centerToFront_civic
-    rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 85400 * 2.0
-    tireStiffnessRear_civic = 90000 * 2.0
-
     # Speed conversion:              20, 45 mph
     ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
     ret.steerRatio = 16.2 # Pacifica Hybrid 2017
@@ -85,20 +75,13 @@ class CarInterface(object):
       ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
       # TODO allow 2019 cars to steer down to 13 m/s if already engaged.
 
-    centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = rotationalInertia_civic * \
-                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = tireStiffnessFront_civic * \
-                             ret.mass / mass_civic * \
-                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = tireStiffnessRear_civic * \
-                            ret.mass / mass_civic * \
-                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
 
     # no rear steering, at least on the listed cars above
     ret.steerRatioRear = 0.
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 7664d9964..0f3bbc33c 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -7,7 +7,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.ford.carstate import CarState, get_can_parser
 from selfdrive.car.ford.values import MAX_ANGLE
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
 
 class CarInterface(object):
@@ -51,16 +51,6 @@ class CarInterface(object):
     # pedal
     ret.enableCruise = True
 
-    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
-    mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
-    wheelbase_civic = 2.70
-    centerToFront_civic = wheelbase_civic * 0.4
-    centerToRear_civic = wheelbase_civic - centerToFront_civic
-    rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 85400
-    tireStiffnessRear_civic = 90000
-
     ret.wheelbase = 2.85
     ret.steerRatio = 14.8
     ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
@@ -69,32 +59,21 @@ class CarInterface(object):
     ret.lateralTuning.pid.kf = 1. / MAX_ANGLE   # MAX Steer angle to normalize FF
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
     ret.steerRateCost = 1.0
-
-    f = 1.2
-    tireStiffnessFront_civic *= f
-    tireStiffnessRear_civic *= f
-
     ret.centerToFront = ret.wheelbase * 0.44
-
+    tire_stiffness_factor = 0.5328
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1.
 
-    centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = rotationalInertia_civic * \
-                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = tireStiffnessFront_civic * \
-                             ret.mass / mass_civic * \
-                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = tireStiffnessRear_civic * \
-                            ret.mass / mass_civic * \
-                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
+                                                                         tire_stiffness_factor=tire_stiffness_factor)
 
     # no rear steering, at least on the listed cars above
     ret.steerRatioRear = 0.
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 4a909bc84..c066a6523 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -7,7 +7,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \
                                     SUPERCRUISE_CARS, AccState
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
 
 class CanBus(object):
@@ -60,6 +60,7 @@ class CarInterface(object):
     # or camera is on powertrain bus (LKA cars without ACC).
     ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
     ret.openpilotLongitudinalControl = ret.enableCamera
+    tire_stiffness_factor = 0.444  # not optimized yet
 
     if candidate == CAR.VOLT:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
@@ -129,30 +130,14 @@ class CarInterface(object):
       ret.centerToFront = ret.wheelbase * 0.465
 
 
-    # hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
-    mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
-    wheelbase_civic = 2.70
-    centerToFront_civic = wheelbase_civic * 0.4
-    centerToRear_civic = wheelbase_civic - centerToFront_civic
-    rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 85400
-    tireStiffnessRear_civic = 90000
-
-    centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = rotationalInertia_civic * \
-                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = tireStiffnessFront_civic * \
-                             ret.mass / mass_civic * \
-                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = tireStiffnessRear_civic * \
-                            ret.mass / mass_civic * \
-                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
+                                                                         tire_stiffness_factor=tire_stiffness_factor)
 
     # same tuning for Volt and CT6 for now
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 72c85c862..93aaf0182 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -10,7 +10,7 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET,
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
@@ -152,16 +152,6 @@ class CarInterface(object):
 
     ret.enableCruise = not ret.enableGasInterceptor
 
-    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
-    mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
-    wheelbase_civic = 2.70
-    centerToFront_civic = wheelbase_civic * 0.4
-    centerToRear_civic = wheelbase_civic - centerToFront_civic
-    rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 192150
-    tireStiffnessRear_civic = 202500
-
     # Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
     # model optimization process. Certain Hondas have an extra steering sensor at the bottom
     # of the steering rack, which improves controls quality as it removes the steering column
@@ -174,9 +164,9 @@ class CarInterface(object):
 
     if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
       stop_and_go = True
-      ret.mass = mass_civic
-      ret.wheelbase = wheelbase_civic
-      ret.centerToFront = centerToFront_civic
+      ret.mass = CivicParams.MASS
+      ret.wheelbase = CivicParams.WHEELBASE
+      ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 14.63  # 10.93 is end-to-end spec
       tire_stiffness_factor = 1.
       # Civic at comma has modified steering FW, so different tuning for the Neo in that car
@@ -334,20 +324,14 @@ class CarInterface(object):
     # conflict with PCM acc
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
 
-    centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = rotationalInertia_civic * \
-                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
-                             ret.mass / mass_civic * \
-                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
-                            ret.mass / mass_civic * \
-                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
+                                                                         tire_stiffness_factor=tire_stiffness_factor)
 
     # no rear steering, at least on the listed cars above
     ret.steerRatioRear = 0.
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index bd99eaa5a..67ca2261f 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
 from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts, FEATURES
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
 
 class CarInterface(object):
@@ -51,19 +51,9 @@ class CarInterface(object):
     ret.safetyModel = car.CarParams.SafetyModel.hyundai
     ret.enableCruise = True  # stock acc
 
-    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
-    mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
-    wheelbase_civic = 2.70
-    centerToFront_civic = wheelbase_civic * 0.4
-    centerToRear_civic = wheelbase_civic - centerToFront_civic
-    rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 192150
-    tireStiffnessRear_civic = 202500
-    tire_stiffness_factor = 1.
-
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerRateCost = 0.5
+    tire_stiffness_factor = 1.
 
     if candidate == CAR.SANTA_FE:
       ret.lateralTuning.pid.kf = 0.00005
@@ -129,21 +119,14 @@ class CarInterface(object):
 
     ret.centerToFront = ret.wheelbase * 0.4
 
-    centerToRear = ret.wheelbase - ret.centerToFront
-
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = rotationalInertia_civic * \
-                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
-                             ret.mass / mass_civic * \
-                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
-                            ret.mass / mass_civic * \
-                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
+                                                                         tire_stiffness_factor=tire_stiffness_factor)
 
 
     # no rear steering, at least on the listed cars above
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index a609ee909..e9d9c117f 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.subaru.values import CAR
 from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 
 
 class CarInterface(object):
@@ -58,7 +58,6 @@ class CarInterface(object):
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 15
-      tire_stiffness_factor = 1.0
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
@@ -84,30 +83,13 @@ class CarInterface(object):
 
     # end from gm
 
-    # hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
-    mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
-    wheelbase_civic = 2.70
-    centerToFront_civic = wheelbase_civic * 0.4
-    centerToRear_civic = wheelbase_civic - centerToFront_civic
-    rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 192150
-    tireStiffnessRear_civic = 202500
-    centerToRear = ret.wheelbase - ret.centerToFront
-
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = rotationalInertia_civic * \
-                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
-                             ret.mass / mass_civic * \
-                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
-                            ret.mass / mass_civic * \
-                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
 
     return ret
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 83bf921d9..a1cffae95 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.swaglog import cloudlog
 
 
@@ -54,16 +54,6 @@ class CarInterface(object):
     # pedal
     ret.enableCruise = not ret.enableGasInterceptor
 
-    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
-    # scale unknown params for other cars
-    mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
-    wheelbase_civic = 2.70
-    centerToFront_civic = wheelbase_civic * 0.4
-    centerToRear_civic = wheelbase_civic - centerToFront_civic
-    rotationalInertia_civic = 2500
-    tireStiffnessFront_civic = 192150
-    tireStiffnessRear_civic = 202500
-
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     if candidate != CAR.PRIUS:
       ret.lateralTuning.init('pid')
@@ -100,7 +90,7 @@ class CarInterface(object):
       ret.safetyParam = 100
       ret.wheelbase = 2.70
       ret.steerRatio = 17.8
-      tire_stiffness_factor = 0.444
+      tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
       ret.lateralTuning.pid.kf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
@@ -140,7 +130,7 @@ class CarInterface(object):
       ret.safetyParam = 73
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.444 # not optimized yet
+      tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
       ret.lateralTuning.pid.kf = 0.00006
@@ -170,7 +160,7 @@ class CarInterface(object):
       ret.safetyParam = 73
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.9
-      tire_stiffness_factor = 0.444
+      tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00007818594
@@ -179,8 +169,8 @@ class CarInterface(object):
       stop_and_go = True
       ret.safetyParam = 73
       ret.wheelbase = 2.8702
-      ret.steerRatio = 16.0 #not optimized
-      tire_stiffness_factor = 0.444
+      ret.steerRatio = 16.0 # not optimized
+      tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00007818594
@@ -195,20 +185,14 @@ class CarInterface(object):
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
 
-    centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = rotationalInertia_civic * \
-                            ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
-                             ret.mass / mass_civic * \
-                             (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
-    ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
-                            ret.mass / mass_civic * \
-                            (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
+                                                                         tire_stiffness_factor=tire_stiffness_factor)
 
     # no rear steering, at least on the listed cars above
     ret.steerRatioRear = 0.

From 99a96a99bcd82e890d686fc7f2a20904e865d0fd Mon Sep 17 00:00:00 2001
From: Nick Brown <njbgaming09@gmail.com>
Date: Mon, 8 Jul 2019 20:02:59 -0400
Subject: [PATCH 4/4] 2019 Rav4 Limited AWD (#732)

* Fingerprint

* Merge Limited and XLE fingerprint because they're the same
---
 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 f48788842..da8b02dcd 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -165,9 +165,9 @@ FINGERPRINTS = {
   {
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
-  # XLE and AWD
+  # XLE, Limited, and AWD
   {
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
   CAR.COROLLA_TSS2: [
   # hatch 2019+ and sedan 2020+