From 39e10d3ae3c072916c04d9a3611e639624fccbea Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 27 Jan 2023 15:20:59 -0800 Subject: [PATCH] [RAM 1500 5TH GEN] Disable Live Torque (#27121) * revert ram on live torque * update refs * update refs old-commit-hash: 8d447e8a081e878a55707cc2840a6d08d88102ca --- selfdrive/car/torque_data/override.yaml | 1 + selfdrive/car/torque_data/params.yaml | 1 - selfdrive/locationd/torqued.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 733aa34343..0a49d39914 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -23,6 +23,7 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars +RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 6a607f3a8a..397b29525d 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -56,7 +56,6 @@ LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117] LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114] MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] -RAM 1500 5TH GEN: [1.550848, 2.0, 0.132261] SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708] SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745] SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 5449152686..fcc068d34e 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -35,7 +35,6 @@ MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches ALLOWED_CARS = ['toyota', 'hyundai'] -ALLOWED_PLATFORMS = ['RAM 1500 5TH GEN'] # for adding individual platforms from a brand without torqued def slope2rot(slope): @@ -114,7 +113,7 @@ class TorqueEstimator: self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 self.resets = 0.0 - self.use_params = (CP.carName in ALLOWED_CARS) or (CP.carFingerprint in ALLOWED_PLATFORMS) + self.use_params = CP.carName in ALLOWED_CARS if CP.lateralTuning.which() == 'torque': self.offline_friction = CP.lateralTuning.torque.friction diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index dcd2f7b224..51de0f0013 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ec92fe65806256cb5180cfd5ec60895efcc08da2 \ No newline at end of file +844c84eae269e74b246b039d2b33fd44e98a5b68 \ No newline at end of file