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slightly adjust es_tss2 port

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dragonpilot
2019-10-22 11:22:02 +10:00
parent df40837f48
commit c065bc1a01
2 changed files with 2 additions and 12 deletions
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selfdrive/car/toyota/interface.py
+1 -11
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@@ -186,7 +186,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ESH_TSS2:
elif candidate in [CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
@@ -236,16 +236,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_ES_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
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
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
selfdrive/car/toyota/values.py
+1 -1
View File
@@ -261,4 +261,4 @@ DBC = {
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA] # no resume button press required
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ES_TSS2] # no resume button press required