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@ -61,19 +61,10 @@ class CarInterface(CarInterfaceBase): |
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ret.steerActuatorDelay = 0.25 |
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) |
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elif candidate in (CAR.RAV4, CAR.RAV4H): |
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stop_and_go = True if (candidate in CAR.RAV4H) else False |
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elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): |
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stop_and_go = True |
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ret.wheelSpeedFactor = 1.035 |
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elif candidate in (CAR.CHR, CAR.CHR_TSS2): |
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stop_and_go = True |
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elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2): |
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stop_and_go = True |
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elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): |
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# starting from 2019, all Avalon variants have stop and go |
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# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf |
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@ -96,13 +87,8 @@ class CarInterface(CarInterfaceBase): |
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ret.lateralTuning.pid.kf = 0.00004 |
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break |
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elif candidate == CAR.SIENNA: |
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stop_and_go = True |
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elif candidate == CAR.LEXUS_CTH: |
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stop_and_go = True |
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elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2): |
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elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX): |
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# TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars? |
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stop_and_go = True |
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# TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. |
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