sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Chrysler Pacifica Hybrid: combine 2017 and 2018 (#32937)

Browse Source 
* Chrysler Pacifica: combine 2017 and 2018 hybrids

torque params are not accurate for either (might be ~1.5 for both checking a few dongles)

* remove duplicate fingerprints

* combine docs lines

fix
pull/32938/head
Shane Smiskol 10 months ago committed by GitHub
parent fa2f7a4dd4
commit 31ff8eda9c
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
7 changed files with 26 additions and 47 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 5
      docs/CARS.md
  2. 42
      selfdrive/car/chrysler/fingerprints.py
  3. 4
      selfdrive/car/chrysler/interface.py
  4. 16
      selfdrive/car/chrysler/values.py
  5. 3
      selfdrive/car/fingerprints.py
  6. 2
      selfdrive/car/tests/routes.py
  7. 1
      selfdrive/car/torque_data/params.toml

5
docs/CARS.md
Unescape View File

@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 288 Supported Cars
# 287 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -25,8 +25,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||

42
selfdrive/car/chrysler/fingerprints.py
Unescape View File

@ -4,35 +4,6 @@ from openpilot.selfdrive.car.chrysler.values import CAR
Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [
b'68239262AH',
b'68239262AI',
b'68239262AJ',
b'68239263AH',
b'68239263AJ',
],
(Ecu.srs, 0x744, None): [
b'68238840AH',
],
(Ecu.fwdRadar, 0x753, None): [
b'68226356AI',
],
(Ecu.eps, 0x75a, None): [
b'68288309AC',
b'68288309AD',
],
(Ecu.engine, 0x7e0, None): [
b'68277480AV ',
b'68277480AX ',
b'68277480AZ ',
],
(Ecu.hybrid, 0x7e2, None): [
b'05190175BF',
b'05190175BH',
b'05190226AK',
],
},
CAR.CHRYSLER_PACIFICA_2018: {
(Ecu.combinationMeter, 0x742, None): [
b'68227902AF',
@ -181,26 +152,39 @@ FW_VERSIONS = {
},
CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [
b'68239262AH',
b'68239262AI',
b'68239262AJ',
b'68239263AH',
b'68239263AJ',
b'68358439AE',
b'68358439AG',
],
(Ecu.srs, 0x744, None): [
b'68238840AH',
b'68358990AC',
b'68405939AA',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672758AA',
b'68226356AI',
],
(Ecu.eps, 0x75a, None): [
b'68288309AC',
b'68288309AD',
b'68525339AA',
],
(Ecu.engine, 0x7e0, None): [
b'68277480AV ',
b'68277480AX ',
b'68277480AZ ',
b'68366580AI ',
b'68366580AK ',
b'68366580AM ',
],
(Ecu.hybrid, 0x7e2, None): [
b'05190175BF',
b'05190175BH',
b'05190226AI',
b'05190226AK',
b'05190226AM',

4
selfdrive/car/chrysler/interface.py
Unescape View File

@ -35,8 +35,8 @@ class CarInterface(CarInterfaceBase):
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
# Chrysler
if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]

16
selfdrive/car/chrysler/values.py
Unescape View File

@ -32,34 +32,30 @@ class ChryslerCarSpecs(CarSpecs):
class CAR(Platforms):
# Chrysler
CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
)
CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
)
CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica 2017-18")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
[
ChryslerCarDocs("Chrysler Pacifica 2019-20"),
ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
# Dodge
DODGE_DURANGO = ChryslerPlatformConfig(
[ChryslerCarDocs("Dodge Durango 2020-21")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
# Jeep

3
selfdrive/car/fingerprints.py
Unescape View File

@ -130,7 +130,8 @@ MIGRATION = {
# Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
"COMMA BODY": BODY.COMMA_BODY,
"CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
"CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
"CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,

2
selfdrive/car/tests/routes.py
Unescape View File

@ -39,7 +39,7 @@ routes = [
CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID), # 2017
CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),

1
selfdrive/car/torque_data/params.toml
Unescape View File

@ -7,7 +7,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
"CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
"CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
"CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
"CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
"GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]

Write Preview
Loading…
Cancel
Save