Merge Lexus UXH into TSS2 Corolla Hybrid (#21100)

selfdrive/car/toyota/interface.py

@@ -25,7 +25,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
 
     # Improved longitudinal tune
-    if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, CAR.LEXUS_UXH_TSS2]:
+    if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
       ret.longitudinalTuning.deadzoneBP = [0., 8.05]
       ret.longitudinalTuning.deadzoneV = [.0, .14]
       ret.longitudinalTuning.kpBP = [0., 5., 20.]
@@ -308,16 +308,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00006
 
-    elif candidate == CAR.LEXUS_UXH_TSS2:
-      stop_and_go = True
-      ret.safetyParam = 73
-      ret.wheelbase = 2.640
-      ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.555
-      ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.5], [0.15]]
-      ret.lateralTuning.pid.kf = 0.00007
-
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 

selfdrive/car/toyota/values.py

@@ -40,6 +40,7 @@ class CAR:
   AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
   RAV4_TSS2 = "TOYOTA RAV4 2019"
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
+  # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
   COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
   LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019"
@@ -52,7 +53,6 @@ class CAR:
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
   MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
-  LEXUS_UXH_TSS2 = "LEXUS UX HYBRID 2019"
 
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
@@ -750,6 +750,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x700, None): [
       b'\x01896630ZJ1000\x00\x00\x00\x00',
       b'\x01896630ZU8000\x00\x00\x00\x00',
+      b'\x01896637621000\x00\x00\x00\x00',
       b'\x01896637624000\x00\x00\x00\x00',
       b'\x01896637626000\x00\x00\x00\x00',
       b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -800,6 +801,7 @@ FW_VERSIONS = {
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
     ],
   },
@@ -1634,23 +1636,6 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
     (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
   },
-  CAR.LEXUS_UXH_TSS2: {
-    (Ecu.esp, 0x7b0, None): [
-      b'F152676303\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B76012\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896637621000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 15): [
-      b'\x018821F3301300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 109): [
-      b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-    ],
-  },
 }
 
 STEER_THRESHOLD = 100
@@ -1692,14 +1677,13 @@ DBC = {
   CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.MIRAI: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_UXH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
 }
 
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
                 CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_UXH_TSS2])
+                CAR.MIRAI, CAR.LEXUS_NX_TSS2])
 
 NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
 

selfdrive/test/test_routes.py

@@ -114,7 +114,6 @@ routes = [
   TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
   TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
   TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
-  TestRoute("f33ec5db3dc94da9|2021-05-22--18-19-45", TOYOTA.LEXUS_UXH_TSS2),
   TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
   TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),