From 3bcd3e2b81bb5b749310bac7fbce76081277d365 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Jan 2022 17:30:48 -0800 Subject: [PATCH] Toyota: merge Lexus ESH params into similar vehicles (#23673) * merge LEXUS_ESH * min and max of all variants old-commit-hash: 31af75f2e35572dc0592bb87c190c9abb00e1c17 --- selfdrive/car/toyota/interface.py | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index f2f70c5b48..65c2faacab 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -132,20 +132,12 @@ class CarInterface(CarInterfaceBase): ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2): + elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): stop_and_go = True ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet - ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - - elif candidate == CAR.LEXUS_ESH: - stop_and_go = True - ret.wheelbase = 2.8190 - ret.steerRatio = 16.06 - tire_stiffness_factor = 0.444 # not optimized yet - ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: