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Honda: Bosch Civic changes with modified EPS

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This commit is contained in:
Jason Wen
2023-12-09 21:40:34 +00:00
parent e143d45c21
commit df7b56ff06
2 changed files with 16 additions and 2 deletions
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selfdrive/car/honda/interface.py
+6 -2
View File
@@ -113,8 +113,12 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
if eps_modified:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
ret.mass = 3279. * CV.LB_TO_KG
selfdrive/car/honda/values.py
+10
View File
@@ -638,6 +638,16 @@ FW_VERSIONS = {
b'39990-TGG-J510\x00\x00',
b'39990-TGL-E130\x00\x00',
b'39990-TGN-E120\x00\x00',
# modded EPS bosch civic
b'39990-TBA,C020\x00\x00',
b'39990-TBA,C120\x00\x00',
b'39990-TEA,T820\x00\x00',
b'39990-TEZ,T020\x00\x00',
b'39990-TGG,A020\x00\x00',
b'39990-TGG,A120\x00\x00',
b'39990-TGG,J510\x00\x00',
b'39990-TGL,E130\x00\x00',
b'39990-TGN,E120\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TBA-A060\x00\x00',