Car interface: set tire stiffness in common function (#26625)

* common stiffness

* GM uses factors

selfdrive/car/body/interface.py

@@ -2,7 +2,7 @@
 import math
 from cereal import car
 from common.realtime import DT_CTRL
-from selfdrive.car import scale_tire_stiffness, get_safety_config
+from selfdrive.car import get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.body.values import SPEED_FROM_RPM
 
@@ -28,8 +28,6 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
     return ret
 
   def _update(self, c):

selfdrive/car/chrysler/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -72,11 +72,6 @@ class CarInterface(CarInterfaceBase):
       raise ValueError(f"Unsupported car: {candidate}")
 
     ret.centerToFront = ret.wheelbase * 0.44
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
     ret.enableBsm = 720 in fingerprint[0]
 
     return ret

selfdrive/car/ford/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -55,7 +55,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.autoResumeSng = ret.minEnableSpeed == -1.
     ret.centerToFront = ret.wheelbase * 0.44
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
     return ret
 
   def _update(self, c):

selfdrive/car/interfaces.py

@@ -10,7 +10,7 @@ from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia
+from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -103,6 +103,12 @@ class CarInterfaceBase(ABC):
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
+    # TODO: some car interfaces set stiffness factor
+    if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
+      # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+      # mass and CG position, so all cars will have approximately similar dyn behaviors
+      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+
     return ret
 
   @staticmethod

selfdrive/car/nissan/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.nissan.values import CAR
 
@@ -18,6 +18,9 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
     ret.steerRatio = 17
 
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.radarOffCan = True
+
     if candidate in (CAR.ROGUE, CAR.XTRAIL):
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
@@ -33,13 +36,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44
 
-    ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.radarOffCan = True
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
     return ret
 
   # returns a car.CarState

selfdrive/car/subaru/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
@@ -101,10 +101,6 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError(f"unknown car: {candidate}")
 
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
     return ret
 
   # returns a car.CarState

selfdrive/car/tesla/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car.tesla.values import CANBUS, CAR
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -50,8 +50,6 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
     return ret
 
   def _update(self, c):

selfdrive/car/tests/test_car_interfaces.py

@@ -31,6 +31,8 @@ class TestCarInterfaces(unittest.TestCase):
     assert car_interface
 
     self.assertGreater(car_params.mass, 1)
+    self.assertGreater(car_params.wheelbase, 0)
+    self.assertGreater(car_params.centerToFront, 0)
     self.assertGreater(car_params.maxLateralAccel, 0)
 
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:

selfdrive/car/volkswagen/interface.py

@@ -1,7 +1,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
 
@@ -211,7 +211,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.autoResumeSng = ret.minEnableSpeed == -1
     ret.centerToFront = ret.wheelbase * 0.45
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
     return ret
 
   # returns a car.CarState