dragonpilot

dragonpilot - 基於 openpilot 的開源駕駛輔助系統

Shane Smiskol 57c4d78869 Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609 ) * test out lta message * correctly send * percentage is percentage driver isn't overriding * closer to stock system * should be able to send LTA at 100hz, counter is the same as LKA * small amount of torque towards desired * Offset commanded torque correctly * Too little torque * use car's SETME's * Revert "use car's SETME's" This reverts commit c88856969995f97cc5ec4e2b24a5cc4e3ef4721a. * try cutting steer every second * Didn't seem to matter This reverts commit 6923498b2a9eed8beb3998f441899f1df4948f6f. * steer to 0 * let packer set counter * add for camry * log steer faults * comments * bump opendbc * add opParams * add lta safety * set safety param * fix torque control bug * bump panda * fix missing signal * [experiment] apply some rate limiting and anti-windup * no faults, clip to 90 deg, decent torque blending * clean up blending * toyota angle rate limits * use std angle limits * assert we only add angle control to TSS2 cars * clean up carcontroller a bit * space space * bump opendbc * clean up toyotacan from opendbc change * bump panda * will tests run? * steer at zero * refactor angle to use LatControlPID with zero gains * stop some faults and tuning * possibly fix integral wind up at max torque * Add 2023 rav4 * limit torque inside EPS when overriding (no huge windup in edge cases when overriding) * fix wind up issue after turns (or prolonged saturation) * this doesn't work that well * try these limits * try this * log the angle! * global variable * Apply suggestions from code review * clip angle to 3 m/s/s * some tolerance for roll * raise limits a bit * bumppanda * fix faults * still not good * offsetting causing hugging? * Revert "offsetting causing hugging?" This reverts commit a42ec0b772ed74a1fd54b7fef2e7c275a3e8333b. * reduce kp * class var not needed * limit up angle delta * fix saturation check * feedforward includes offset * some threshold for roll * bump panda * surely we don't need this * test stuff * Toyota: Add FW for 2023 RAV4 Hybrid (#27494) * Toyota: Add FW for 2023 RAV4 Hybrid * Set RAVH_TSS2_2022 to use angle SteerControlType * bump panda * remove extras * Revert "remove extras" This reverts commit 87378e734915c107f57f99a5feef4dcb2b2a9a37. * no max angle limit for now * add as separate platforms * remove debug scripts * revert to master * remove these FW versions from 2022 * dashcam these cars :( * fix test * interface * add to untested routes * never send torque with LTA cars * fix values * clean up controlsd * reset lat control files * use the car param * add to params * bump panda to master * Update selfdrive/car/toyota/carcontroller.py * don't set torque params if angle control (fixes controlsd bug) * reset controlsd * keyword * in another pr * simplify test * rm line * Update selfdrive/car/toyota/tests/test_toyota.py --------- Co-authored-by: crispbee <84819466+crispbee@users.noreply.github.com>	3 years ago
..
__init__.py	Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609 )	3 years ago
test_toyota.py	Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609 )	3 years ago

Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609 )

* test out lta message

* correctly send

* percentage is percentage driver isn't overriding

* closer to stock system

* should be able to send LTA at 100hz, counter is the same as LKA

* small amount of torque towards desired

* Offset commanded torque correctly

* Too little torque

* use car's SETME's

* Revert "use car's SETME's"

This reverts commit c88856969995f97cc5ec4e2b24a5cc4e3ef4721a.

* try cutting steer every second

* Didn't seem to matter

This reverts commit 6923498b2a9eed8beb3998f441899f1df4948f6f.

* steer to 0

* let packer set counter

* add for camry

* log steer faults

* comments

* bump opendbc

* add opParams

* add lta safety

* set safety param

* fix torque control bug

* bump panda

* fix missing signal

* [experiment] apply some rate limiting and anti-windup

* no faults, clip to 90 deg, decent torque blending

* clean up blending

* toyota angle rate limits

* use std angle limits

* assert we only add angle control to TSS2 cars

* clean up carcontroller a bit

* space space

* bump opendbc

* clean up toyotacan from opendbc change

* bump panda

* will tests run?

* steer at zero

* refactor angle to use LatControlPID with zero gains

* stop some faults and tuning

* possibly fix integral wind up at max torque

* Add 2023 rav4

* limit torque inside EPS when overriding (no huge windup in edge cases when overriding)

* fix wind up issue after turns (or prolonged saturation)

* this doesn't work that well

* try these limits

* try this

* log the angle!

* global variable

* Apply suggestions from code review

* clip angle to 3 m/s/s

* some tolerance for roll

* raise limits a bit

* bumppanda

* fix faults

* still not good

* offsetting causing hugging?

* Revert "offsetting causing hugging?"

This reverts commit a42ec0b772ed74a1fd54b7fef2e7c275a3e8333b.

* reduce kp

* class var not needed

* limit up angle delta

* fix saturation check

* feedforward includes offset

* some threshold for roll

* bump panda

* surely we don't need this

* test stuff

* Toyota: Add FW for 2023 RAV4 Hybrid (#27494)

* Toyota: Add FW for 2023 RAV4 Hybrid

* Set RAVH_TSS2_2022 to use angle SteerControlType

* bump panda

* remove extras

* Revert "remove extras"

This reverts commit 87378e734915c107f57f99a5feef4dcb2b2a9a37.

* no max angle limit for now

* add as separate platforms

* remove debug scripts

* revert to master

* remove these FW versions from 2022

* dashcam these cars :(

* fix test

* interface

* add to untested routes

* never send torque with LTA cars

* fix values

* clean up controlsd

* reset lat control files

* use the car param

* add to params

* bump panda to master

* Update selfdrive/car/toyota/carcontroller.py

* don't set torque params if angle control (fixes controlsd bug)

* reset controlsd

* keyword

* in another pr

* simplify test

* rm line

* Update selfdrive/car/toyota/tests/test_toyota.py

---------

Co-authored-by: crispbee <84819466+crispbee@users.noreply.github.com>

3 years ago

__init__.py

Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609 )

3 years ago

test_toyota.py

Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609 )

3 years ago