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[torqued] Make torqued work on Hyundai Tucson (#26511)

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* changes to get offline values

* set tucon values

* move to params.yaml
old-commit-hash: d4fd0c3c87
vw-mqb-aeb
Vivek Aithal 3 years ago committed by GitHub
parent aec5f32f3c
commit 71696403fb
3 changed files with 3 additions and 3 deletions
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  1. 1
      selfdrive/car/torque_data/override.yaml
  2. 1
      selfdrive/car/torque_data/params.yaml
  3. 4
      selfdrive/locationd/torqued.py

1
selfdrive/car/torque_data/override.yaml
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@ -30,7 +30,6 @@ CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0] HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0]
KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0] KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0]
KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]

1
selfdrive/car/torque_data/params.yaml
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@ -38,6 +38,7 @@ HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0
HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272]
JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
KIA EV6 2022: [3.2, 3.0, 0.05] KIA EV6 2022: [3.2, 3.0, 0.05]

4
selfdrive/locationd/torqued.py
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@ -16,9 +16,9 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
HISTORY = 5 # secs HISTORY = 5 # secs
POINTS_PER_BUCKET = 1500 POINTS_PER_BUCKET = 1500
MIN_POINTS_TOTAL = 4000 MIN_POINTS_TOTAL = 4000
MIN_POINTS_TOTAL_QLOG = 800 MIN_POINTS_TOTAL_QLOG = 600
FIT_POINTS_TOTAL = 2000 FIT_POINTS_TOTAL = 2000
FIT_POINTS_TOTAL_QLOG = 800 FIT_POINTS_TOTAL_QLOG = 600
MIN_VEL = 15 # m/s MIN_VEL = 15 # m/s
FRICTION_FACTOR = 1.5 # ~85% of data coverage FRICTION_FACTOR = 1.5 # ~85% of data coverage
FACTOR_SANITY = 0.3 FACTOR_SANITY = 0.3

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