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use vEgo override cruise speed for toyota at min speed

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toyboxZ2
2020-11-26 23:52:28 +08:00
parent 7265f321b9
commit bbbccead30
3 changed files with 18 additions and 2 deletions
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cereal/log.capnp
+1
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@@ -2209,4 +2209,5 @@ struct DragonConf {
dpIsUpdating @72 :Bool;
dpTimebombAssist @73 :Bool;
dpDynamicGas @74 :Bool;
dpToyotaLowestCruiseOverrideVego @75 :Bool;
}
common/dp_conf.py
+1
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@@ -105,6 +105,7 @@ confs = [
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param']},
{'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_lowest_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
#misc
selfdrive/car/toyota/interface.py
+16 -2
View File
@@ -11,6 +11,12 @@ from common.params import Params
EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
# dp
self.dp_cruise_speed = 0.
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 3.0
@@ -357,8 +363,16 @@ class CarInterface(CarInterfaceBase):
# dp
self.dragonconf = dragonconf
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
if dragonconf.dpToyotaLowestCruiseOverride and ret.cruiseState.speed < dragonconf.dpToyotaLowestCruiseOverrideAt * CV.KPH_TO_MS:
ret.cruiseState.speed = dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS
if ret.cruiseState.enabled and dragonconf.dpToyotaLowestCruiseOverride and ret.cruiseState.speed < dragonconf.dpToyotaLowestCruiseOverrideAt * CV.KPH_TO_MS:
if dragonconf.dpToyotaLowestCruiseOverrideVego:
if self.dp_cruise_speed == 0.:
ret.cruiseState.speed = self.dp_cruise_speed = max( dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS,ret.vEgo)
else:
ret.cruiseState.speed = self.dp_cruise_speed
else:
ret.cruiseState.speed = dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS
else:
self.dp_cruise_speed = 0.
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False