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Tried native Stop and Go on Highlander ICE with no comma pedal: Works! (#353)

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* Trying to make Highlander ICE stop and go

* Making acceleration slow for fuel efficiency

* Removing annoying commanded disengage beep

* Raised accel_max by 50% and commented on chime

* Testing if Highlander ICE can resume follow from 0

* Returned to 1.5 m/s2 for testing stop and go

* Prep for merging upstream

* Prep for upstream merge item #2

* Added Highlander ICE/Hybrid to Stop and Go

Also updated table of vehicles

* Rollback advertising stop and go for Highlanders

* Fix whitespace
pull/3/head
zeeexsixare 7 years ago committed by rbiasini
parent 6eb1247426
commit 50d9c446cf
2 changed files with 4 additions and 4 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
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  1. 2
      README.md
  2. 6
      selfdrive/car/toyota/interface.py

2
README.md
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@ -73,7 +73,7 @@ Supported Cars
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | | Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | | Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | | Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | | Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph | | Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | | Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | | Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |

6
selfdrive/car/toyota/interface.py
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@ -147,9 +147,9 @@ class CarInterface(object):
# to a negative value, so it won't matter. # to a negative value, so it won't matter.
# hybrid models can't do stop and go even though the stock ACC can't # hybrid models can't do stop and go even though the stock ACC can't
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]: CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
ret.minEnableSpeed = -1. ret.minEnableSpeed = -1.
elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER]: # TODO: hack ICE to do stop and go elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS ret.minEnableSpeed = 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront centerToRear = ret.wheelbase - ret.centerToFront
@ -244,7 +244,7 @@ class CarInterface(object):
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on) ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0. ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]: if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
# ignore standstill in hybrid vehicles, since pcm allows to restart without # ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command # receiving any special command
ret.cruiseState.standstill = False ret.cruiseState.standstill = False

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