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62 lines
2.3 KiB
62 lines
2.3 KiB
#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from selfdrive.car.tesla.values import CANBUS, CAR
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from selfdrive.car import STD_CARGO_KG, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "tesla"
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# There is no safe way to do steer blending with user torque,
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# so the steering behaves like autopilot. This is not
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# how openpilot should be, hence dashcamOnly
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ret.dashcamOnly = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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# Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
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ret.longitudinalTuning.kpBP = [0]
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ret.longitudinalTuning.kpV = [0]
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ret.longitudinalTuning.kiBP = [0]
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ret.longitudinalTuning.kiV = [0]
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ret.longitudinalActuatorDelayUpperBound = 0.5 # s
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ret.radarTimeStep = (1.0 / 8) # 8Hz
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# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
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# If so, we assume that it is connected to the longitudinal harness.
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if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
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ret.openpilotLongitudinalControl = True
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ret.safetyConfigs = [
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get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
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get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
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]
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else:
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ret.openpilotLongitudinalControl = False
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.25
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if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
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ret.mass = 2100. + STD_CARGO_KG
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ret.wheelbase = 2.959
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 15.0
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else:
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raise ValueError(f"Unsupported car: {candidate}")
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.events = self.create_common_events(ret).to_msg()
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return ret
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def apply(self, c, now_nanos):
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return self.CC.update(c, self.CS, now_nanos)
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