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Toyota: merge Lexus ESH params into similar vehicles (#23673)

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* merge LEXUS_ESH

* min and max of all variants
old-commit-hash: 31af75f2e3
commatwo_master
Shane Smiskol 3 years ago committed by GitHub
parent 4864a65f5e
commit 3bcd3e2b81
1 changed files with 2 additions and 10 deletions
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  1. 12
      selfdrive/car/toyota/interface.py

12
selfdrive/car/toyota/interface.py
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@ -132,20 +132,12 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_D) 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 stop_and_go = True
ret.wheelbase = 2.8702 ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * 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.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
set_lat_tune(ret.lateralTuning, LatTunes.PID_D) set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.SIENNA: elif candidate == CAR.SIENNA:

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