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new subaru tune

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This commit is contained in:
Shane Smiskol
2026-05-16 00:33:58 -07:00
parent f15cc7673a
commit 5bc0a8a99e
2 changed files with 42 additions and 15 deletions
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16
opendbc/car/subaru/carcontroller.py
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@@ -12,6 +12,12 @@ MAX_STEER_RATE = 25 # deg/s
MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
def interp2d(x, y, x_bp, y_bp, table):
# table[i] is the y_bp lookup for x_bp[i]; bilinear via nested np.interp
row_vals = [np.interp(y, y_bp, row) for row in table]
return np.interp(x, x_bp, row_vals)
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP):
super().__init__(dbc_names, CP)
@@ -60,8 +66,14 @@ class CarController(CarControllerBase):
# *** longitudinal ***
if CC.longActive:
apply_throttle = int(round(np.interp(actuators.accel, CarControllerParams.THROTTLE_LOOKUP_BP, CarControllerParams.THROTTLE_LOOKUP_V)))
apply_rpm = int(round(np.interp(actuators.accel, CarControllerParams.RPM_LOOKUP_BP, CarControllerParams.RPM_LOOKUP_V)))
apply_throttle = int(round(interp2d(CS.out.vEgo, actuators.accel,
CarControllerParams.SPEED_LOOKUP_BP,
CarControllerParams.THROTTLE_LOOKUP_BP,
CarControllerParams.THROTTLE_LOOKUP_V)))
apply_rpm = int(round(interp2d(CS.out.vEgo, actuators.accel,
CarControllerParams.SPEED_LOOKUP_BP,
CarControllerParams.RPM_LOOKUP_BP,
CarControllerParams.RPM_LOOKUP_V)))
apply_brake = int(round(np.interp(actuators.accel, CarControllerParams.BRAKE_LOOKUP_BP, CarControllerParams.BRAKE_LOOKUP_V)))
# limit min and max values

41
opendbc/car/subaru/values.py
View File

@@ -30,27 +30,42 @@ class CarControllerParams:
self.STEER_MAX = 2047
THROTTLE_MIN = 808
THROTTLE_MAX = 3400
THROTTLE_MAX = 3600 # ECM gain becomes erratic above ~3200 (the "knee"); cap modestly above
THROTTLE_INACTIVE = 1818 # corresponds to zero acceleration
THROTTLE_ENGINE_BRAKE = 808 # while braking, eyesight sets throttle to this, probably for engine braking
THROTTLE_INACTIVE = 1818 # neutral value sent when long is not active / on cancel
THROTTLE_ENGINE_BRAKE = 808 # eyesight uses this during engine braking
BRAKE_MIN = 0
BRAKE_MAX = 600 # about -3.5m/s2 from testing
BRAKE_MAX = 600 # ~ -3.5 m/s2
RPM_MIN = 0
RPM_MAX = 3600
RPM_MIN = 0 # clip floor / "no request" value when long is not active
RPM_MAX = 3900
RPM_INACTIVE = 600 # a good base rpm for zero acceleration
# Lookups derived empirically from EyeSight's actual schedule (per-speed medians,
# 2 routes: 9cda0159903f3e3d/0000000f-- and /00000044--). Both Cruise_Throttle and
# Cruise_RPM are strongly speed-dependent (cruising at 60 kph needs ~1450 RPM, at
# 120 kph needs ~2150 RPM), so these are 2-D over (accel, vEgo).
SPEED_LOOKUP_BP = [8.3, 19.4, 27.8, 33.3] # m/s ≈ 30 / 70 / 100 / 120 kph
THROTTLE_LOOKUP_BP = [0, 2]
THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
THROTTLE_LOOKUP_BP = [-0.5, -0.2, 0.0, 0.2, 0.5, 1.5]
# rows: SPEED_LOOKUP_BP, cols: THROTTLE_LOOKUP_BP
THROTTLE_LOOKUP_V = [
[808, 1700, 1900, 2300, 3000, 3400],
[808, 1900, 2000, 2500, 3100, 3450],
[808, 1950, 2300, 2800, 3300, 3500],
[808, 2150, 2700, 3100, 3400, 3550],
]
RPM_LOOKUP_BP = [0, 2]
RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
RPM_LOOKUP_BP = [-0.5, -0.2, 0.0, 0.2, 0.5, 1.5]
RPM_LOOKUP_V = [
[1000, 1100, 1200, 1500, 2000, 2700],
[1300, 1400, 1450, 1750, 2400, 2900],
[1550, 1650, 1800, 2200, 3100, 3500],
[1900, 2050, 2150, 2500, 3400, 3900],
]
BRAKE_LOOKUP_BP = [-3.5, 0]
BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
BRAKE_LOOKUP_BP = [-3.5, -2.5, -1.5, -1.0, -0.5, -0.2, 0.0]
BRAKE_LOOKUP_V = [ 600, 300, 185, 140, 70, 25, 0]
class SubaruSafetyFlags(IntFlag):