Rename CivicParams (#29459)

* CivicParams -> ReferenceCarParams

* remove usage in interface

* better name

* revert
old-commit-hash: 8dcd108972

selfdrive/car/__init__.py

@@ -40,9 +40,8 @@ def gen_empty_fingerprint():
   return {i: {} for i in range(0, 8)}
 
 
-# FIXME: hardcoding honda civic 2016 touring params so they can be used to
-# scale unknown params for other cars
-class CivicParams:
+# these params were derived for the Civic and used to calculate params for other cars
+class VehicleDynamicsParams:
   MASS = 1326. + STD_CARGO_KG
   WHEELBASE = 2.70
   CENTER_TO_FRONT = WHEELBASE * 0.4
@@ -55,18 +54,18 @@ class CivicParams:
 # TODO: get actual value, for now starting with reasonable value for
 # civic and scaling by mass and wheelbase
 def scale_rot_inertia(mass, wheelbase):
-  return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2)
+  return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
 
 
 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
 # mass and CG position, so all cars will have approximately similar dyn behaviors
 def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
   center_to_rear = wheelbase - center_to_front
-  tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \
-                         (center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE)
+  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+                         (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)
 
-  tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \
-                        (center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE)
+  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+                        (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)
 
   return tire_stiffness_front, tire_stiffness_rear
 

selfdrive/car/honda/interface.py

@@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
                                                                                             HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
 
@@ -89,9 +89,9 @@ class CarInterface(CarInterfaceBase):
         eps_modified = True
 
     if candidate == CAR.CIVIC:
-      ret.mass = CivicParams.MASS
-      ret.wheelbase = CivicParams.WHEELBASE
-      ret.centerToFront = CivicParams.CENTER_TO_FRONT
+      ret.mass = 1326. + STD_CARGO_KG
+      ret.wheelbase = 2.70
+      ret.centerToFront = ret.wheelbase * 0.4
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       if eps_modified:
         # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
@@ -107,9 +107,9 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
     elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
-      ret.mass = CivicParams.MASS
-      ret.wheelbase = CivicParams.WHEELBASE
-      ret.centerToFront = CivicParams.CENTER_TO_FRONT
+      ret.mass = 1326. + STD_CARGO_KG
+      ret.wheelbase = 2.70
+      ret.centerToFront = ret.wheelbase * 0.4
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]