Toyota: merge Lexus ESH params into similar vehicles (#23673)

* merge LEXUS_ESH * min and max of all variants old-commit-hash: 31af75f2e3
3 years ago · 3bcd3e2b81
parent 4864a65f5e
commit 3bcd3e2b81
1 changed files with 2 additions and 10 deletions
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -132,20 +132,12 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

-    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
+    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
      stop_and_go = True
      ret.wheelbase = 2.8702
      ret.steerRatio = 16.0  # not optimized
      tire_stiffness_factor = 0.444  # not optimized yet
-      ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-
-    elif candidate == CAR.LEXUS_ESH:
-      stop_and_go = True
-      ret.wheelbase = 2.8190
-      ret.steerRatio = 16.06
-      tire_stiffness_factor = 0.444  # not optimized yet
-      ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

    elif candidate == CAR.SIENNA: