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shanes changes

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rav4kumar
2024-09-16 07:36:22 -07:00
parent 7b384185a6
commit 4726c05dfa
2 changed files with 9 additions and 5 deletions
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selfdrive/car/toyota/carcontroller.py
+3 -4
View File
@@ -51,7 +51,7 @@ class CarController(CarControllerBase):
self.pcm_accel_comp = 0
self.distance_button = 0
self.pid = PIDController(k_p=0.5, k_i=0.25, k_f=0)
self.pid = PIDController(k_p=1.0, k_i=0.25, k_f=0)
self.packer = CANPacker(dbc_name)
self.gas = 0
@@ -164,13 +164,12 @@ class CarController(CarControllerBase):
pitch_offset = math.sin(math.radians(CS.vsc_slope_angle)) * 9.81 # downhill is negative
# TODO: these limits are too slow to prevent a jerk when engaging, ramp down on engage?
# self.pcm_accel_comp = clip(actuators.accel - CS.pcm_accel_net, self.pcm_accel_comp - 0.05, self.pcm_accel_comp + 0.05)
pcm_accel_comp = self.pid.update(actuators.accel - CS.pcm_true_accel_net)
pcm_accel_comp = self.pid.update(actuators.accel - CS.pcm_calc_accel_net)
self.pcm_accel_comp = clip(pcm_accel_comp, self.pcm_accel_comp - 0.005, self.pcm_accel_comp + 0.005)
if CS.out.cruiseState.standstill or actuators.longControlState == LongCtrlState.stopping:
self.pcm_accel_comp = 0.0
self.pid.reset()
# TODO: just set kp to 1 and remove *2 here
pcm_accel_cmd = actuators.accel + self.pcm_accel_comp * 2 # + offset
pcm_accel_cmd = actuators.accel + self.pcm_accel_comp # + offset
# pcm_accel_cmd = actuators.accel - pitch_offset
if not CC.longActive:
selfdrive/car/toyota/carstate.py
+6 -1
View File
@@ -59,6 +59,7 @@ class CarState(CarStateBase):
self.lkas_hud = {}
self.pcm_accel_net = 0.0
self.pcm_true_accel_net = 0.0
self.pcm_calc_accel_net = 0.0
self.pcm_neutral_force = 0.0
self.vsc_slope_angle = 0.0
@@ -131,7 +132,9 @@ class CarState(CarStateBase):
ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars
# thought to be the gas/brake as issued by the pcm (0=coasting)
self.pcm_accel_net = cp.vl["PCM_CRUISE"]["ACCEL_NET"]
self.pcm_accel_net = cp.vl["PCM_CRUISE"]["ACCEL_NET"] # this is only accurate for braking * 43
self.pcm_true_accel_net = cp.vl["CLUTCH"]["TRUE_ACCEL_NET"] # this is only accurate for acceleration * 78
self.pcm_calc_accel_net = cp.vl["GEAR_PACKET_HYBRID"]["CAR_MOVEMENT"] / 78 - cp.vl["BRAKE"]["BRAKE_PEDAL"] / 43
self.pcm_true_accel_net = cp.vl["CLUTCH"]["TRUE_ACCEL_NET"]
self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
self.vsc_slope_angle = cp.vl["VSC1S07"]["ASLP"]
@@ -452,6 +455,8 @@ class CarState(CarStateBase):
("BODY_CONTROL_STATE_2", 2),
("ESP_CONTROL", 3),
("EPS_STATUS", 25),
("GEAR_PACKET_HYBRID", 60),
("BRAKE", 80),
("BRAKE_MODULE", 40),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),