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>pull/98/head
Shane Smiskol
2 years ago
committed by
GitHub
parent
2f95148a67
commit
57c4d78869
7 changed files with 83 additions and 10 deletions
@ -0,0 +1,13 @@ |
||||
#!/usr/bin/env python3 |
||||
import unittest |
||||
|
||||
from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR |
||||
|
||||
|
||||
class TestToyotaInterfaces(unittest.TestCase): |
||||
def test_angle_car_set(self): |
||||
self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) |
||||
|
||||
|
||||
if __name__ == "__main__": |
||||
unittest.main() |
||||
Loading…
Reference in new issue