diff --git a/scripts/launch_corolla.sh b/scripts/launch_corolla.sh index 146fbacf0a..aa0243e600 100755 --- a/scripts/launch_corolla.sh +++ b/scripts/launch_corolla.sh @@ -2,6 +2,6 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -export FINGERPRINT="TOYOTA COROLLA TSS2 2019" +export FINGERPRINT="COROLLA_TSS2" export SKIP_FW_QUERY="1" $DIR/../launch_openpilot.sh diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 45da5a8b92..f7d6140640 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,7 +1,7 @@ # functions common among cars from collections import defaultdict, namedtuple from dataclasses import dataclass -from enum import IntFlag, ReprEnum +from enum import IntFlag, ReprEnum, EnumType from dataclasses import replace import capnp @@ -240,7 +240,6 @@ class CarSpecs: @dataclass(order=True) class PlatformConfig(Freezable): - platform_str: str car_docs: list[CarDocs] specs: CarSpecs @@ -248,6 +247,8 @@ class PlatformConfig(Freezable): flags: int = 0 + platform_str: str | None = None + def __hash__(self) -> int: return hash(self.platform_str) @@ -259,10 +260,18 @@ class PlatformConfig(Freezable): def __post_init__(self): self.init() - self.freeze() -class Platforms(str, ReprEnum): +class PlatformsType(EnumType): + def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds): + for key in classdict._member_names.keys(): + cfg: PlatformConfig = classdict[key] + cfg.platform_str = key + cfg.freeze() + return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds) + + +class Platforms(str, ReprEnum, metaclass=PlatformsType): config: PlatformConfig def __new__(cls, platform_config: PlatformConfig): diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index d1ba0159fb..e570af0f69 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -21,7 +21,6 @@ class CarControllerParams: class CAR(Platforms): BODY = PlatformConfig( - "COMMA BODY", [CarDocs("comma body", package="All")], CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44), dbc_dict('comma_body', None), diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 32a9dd84bd..f6f3960475 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -204,7 +204,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): if candidate is None: cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True) - candidate = "mock" + candidate = "MOCK" CarInterface, _, _ = interfaces[candidate] CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index aafd7f0519..f3edd8a888 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -363,7 +363,7 @@ FW_VERSIONS = { b'68503664AC', ], }, - CAR.RAM_1500: { + CAR.RAM_1500_5TH_GEN: { (Ecu.combinationMeter, 0x742, None): [ b'68294051AG', b'68294051AI', @@ -567,7 +567,7 @@ FW_VERSIONS = { b'68629936AC', ], }, - CAR.RAM_HD: { + CAR.RAM_HD_5TH_GEN: { (Ecu.combinationMeter, 0x742, None): [ b'68361606AH', b'68437735AC', diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 198bf63b10..e799767f26 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -51,14 +51,14 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00006 # Ram - elif candidate == CAR.RAM_1500: + elif candidate == CAR.RAM_1500_5TH_GEN: ret.steerActuatorDelay = 0.2 ret.wheelbase = 3.88 # Older EPS FW allow steer to zero if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw): ret.minSteerSpeed = 0. - elif candidate == CAR.RAM_HD: + elif candidate == CAR.RAM_HD_5TH_GEN: ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index dfda1d1aaa..78d5131df5 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -33,27 +33,22 @@ class ChryslerCarSpecs(CarSpecs): class CAR(Platforms): # Chrysler PACIFICA_2017_HYBRID = ChryslerPlatformConfig( - "CHRYSLER PACIFICA HYBRID 2017", [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")], ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), ) PACIFICA_2018_HYBRID = ChryslerPlatformConfig( - "CHRYSLER PACIFICA HYBRID 2018", [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")], PACIFICA_2017_HYBRID.specs, ) PACIFICA_2019_HYBRID = ChryslerPlatformConfig( - "CHRYSLER PACIFICA HYBRID 2019", [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")], PACIFICA_2017_HYBRID.specs, ) PACIFICA_2018 = ChryslerPlatformConfig( - "CHRYSLER PACIFICA 2018", [ChryslerCarDocs("Chrysler Pacifica 2017-18")], PACIFICA_2017_HYBRID.specs, ) PACIFICA_2020 = ChryslerPlatformConfig( - "CHRYSLER PACIFICA 2020", [ ChryslerCarDocs("Chrysler Pacifica 2019-20"), ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"), @@ -63,33 +58,28 @@ class CAR(Platforms): # Dodge DODGE_DURANGO = ChryslerPlatformConfig( - "DODGE DURANGO 2021", [ChryslerCarDocs("Dodge Durango 2020-21")], PACIFICA_2017_HYBRID.specs, ) # Jeep JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk - "JEEP GRAND CHEROKEE V6 2018", [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")], ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7), ) JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk - "JEEP GRAND CHEROKEE 2019", [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")], JEEP_GRAND_CHEROKEE.specs, ) # Ram - RAM_1500 = ChryslerPlatformConfig( - "RAM 1500 5TH GEN", + RAM_1500_5TH_GEN = ChryslerPlatformConfig( [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))], ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5), dbc_dict('chrysler_ram_dt_generated', None), ) - RAM_HD = ChryslerPlatformConfig( - "RAM HD 5TH GEN", + RAM_HD_5TH_GEN = ChryslerPlatformConfig( [ ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), @@ -119,8 +109,8 @@ class CarControllerParams: STEER_THRESHOLD = 120 -RAM_DT = {CAR.RAM_1500, } -RAM_HD = {CAR.RAM_HD, } +RAM_DT = {CAR.RAM_1500_5TH_GEN, } +RAM_HD = {CAR.RAM_HD_5TH_GEN, } RAM_CARS = RAM_DT | RAM_HD diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index c9d8dd10a8..02e31fa8e6 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -346,7 +346,7 @@ class CarDocs: return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) else: - if CP.carFingerprint == "COMMA BODY": + if CP.carFingerprint == "BODY": return "The body is a robotics dev kit that can run openpilot. Learn more." else: raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}") diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index eaf9002dcd..31c45876c2 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,6 +1,14 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.body.values import CAR as BODY +from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER +from openpilot.selfdrive.car.ford.values import CAR as FORD +from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.selfdrive.car.tesla.values import CAR as TESLA from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.volkswagen.values import CAR as VW @@ -117,4 +125,214 @@ MIGRATION = { "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.TUCSON_4TH_GEN, "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN, "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, + + # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/ + "COMMA BODY": BODY.BODY, + "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.PACIFICA_2017_HYBRID, + "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.PACIFICA_2018_HYBRID, + "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.PACIFICA_2019_HYBRID, + "CHRYSLER PACIFICA 2018": CHRYSLER.PACIFICA_2018, + "CHRYSLER PACIFICA 2020": CHRYSLER.PACIFICA_2020, + "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO, + "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN, + "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN, + "FORD BRONCO SPORT 1ST GEN": FORD.BRONCO_SPORT_MK1, + "FORD ESCAPE 4TH GEN": FORD.ESCAPE_MK4, + "FORD EXPLORER 6TH GEN": FORD.EXPLORER_MK6, + "FORD F-150 14TH GEN": FORD.F_150_MK14, + "FORD F-150 LIGHTNING 1ST GEN": FORD.F_150_LIGHTNING_MK1, + "FORD FOCUS 4TH GEN": FORD.FOCUS_MK4, + "FORD MAVERICK 1ST GEN": FORD.MAVERICK_MK1, + "FORD MUSTANG MACH-E 1ST GEN": FORD.MUSTANG_MACH_E_MK1, + "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA, + "CHEVROLET VOLT PREMIER 2017": GM.VOLT, + "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS, + "CHEVROLET MALIBU PREMIER 2017": GM.MALIBU, + "GMC ACADIA DENALI 2018": GM.ACADIA, + "BUICK LACROSSE 2017": GM.BUICK_LACROSSE, + "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL, + "CADILLAC ESCALADE 2017": GM.ESCALADE, + "CADILLAC ESCALADE ESV 2016": GM.ESCALADE_ESV, + "CADILLAC ESCALADE ESV 2019": GM.ESCALADE_ESV_2019, + "CHEVROLET BOLT EUV 2022": GM.BOLT_EUV, + "CHEVROLET SILVERADO 1500 2020": GM.SILVERADO, + "CHEVROLET EQUINOX 2019": GM.EQUINOX, + "CHEVROLET TRAILBLAZER 2021": GM.TRAILBLAZER, + "HONDA ACCORD 2018": HONDA.ACCORD, + "HONDA CIVIC (BOSCH) 2019": HONDA.CIVIC_BOSCH, + "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.CIVIC_BOSCH_DIESEL, + "HONDA CIVIC 2022": HONDA.CIVIC_2022, + "HONDA CR-V 2017": HONDA.CRV_5G, + "HONDA CR-V HYBRID 2019": HONDA.CRV_HYBRID, + "HONDA HR-V 2023": HONDA.HRV_3G, + "ACURA RDX 2020": HONDA.ACURA_RDX_3G, + "HONDA INSIGHT 2019": HONDA.INSIGHT, + "HONDA E 2020": HONDA.HONDA_E, + "ACURA ILX 2016": HONDA.ACURA_ILX, + "HONDA CR-V 2016": HONDA.CRV, + "HONDA CR-V EU 2016": HONDA.CRV_EU, + "HONDA FIT 2018": HONDA.FIT, + "HONDA FREED 2020": HONDA.FREED, + "HONDA HRV 2019": HONDA.HRV, + "HONDA ODYSSEY 2018": HONDA.ODYSSEY, + "HONDA ODYSSEY CHN 2019": HONDA.ODYSSEY_CHN, + "ACURA RDX 2018": HONDA.ACURA_RDX, + "HONDA PILOT 2017": HONDA.PILOT, + "HONDA RIDGELINE 2017": HONDA.RIDGELINE, + "HONDA CIVIC 2016": HONDA.CIVIC, + "HYUNDAI AZERA 6TH GEN": HYUNDAI.AZERA_6TH_GEN, + "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.AZERA_HEV_6TH_GEN, + "HYUNDAI ELANTRA 2017": HYUNDAI.ELANTRA, + "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.ELANTRA_GT_I30, + "HYUNDAI ELANTRA 2021": HYUNDAI.ELANTRA_2021, + "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.ELANTRA_HEV_2021, + "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS, + "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.IONIQ, + "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.IONIQ_HEV_2022, + "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.IONIQ_EV_LTD, + "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.IONIQ_EV_2020, + "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.IONIQ_PHEV_2019, + "HYUNDAI IONIQ PHEV 2020": HYUNDAI.IONIQ_PHEV, + "HYUNDAI KONA 2020": HYUNDAI.KONA, + "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.KONA_EV, + "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.KONA_EV_2022, + "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.KONA_EV_2ND_GEN, + "HYUNDAI KONA HYBRID 2020": HYUNDAI.KONA_HEV, + "HYUNDAI SANTA FE 2019": HYUNDAI.SANTA_FE, + "HYUNDAI SANTA FE 2022": HYUNDAI.SANTA_FE_2022, + "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.SANTA_FE_HEV_2022, + "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.SANTA_FE_PHEV_2022, + "HYUNDAI SONATA 2020": HYUNDAI.SONATA, + "HYUNDAI SONATA 2019": HYUNDAI.SONATA_LF, + "HYUNDAI STARIA 4TH GEN": HYUNDAI.STARIA_4TH_GEN, + "HYUNDAI TUCSON 2019": HYUNDAI.TUCSON, + "HYUNDAI PALISADE 2020": HYUNDAI.PALISADE, + "HYUNDAI VELOSTER 2019": HYUNDAI.VELOSTER, + "HYUNDAI SONATA HYBRID 2021": HYUNDAI.SONATA_HYBRID, + "HYUNDAI IONIQ 5 2022": HYUNDAI.IONIQ_5, + "HYUNDAI IONIQ 6 2023": HYUNDAI.IONIQ_6, + "HYUNDAI TUCSON 4TH GEN": HYUNDAI.TUCSON_4TH_GEN, + "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.SANTA_CRUZ_1ST_GEN, + "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.CUSTIN_1ST_GEN, + "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE, + "KIA K5 2021": HYUNDAI.KIA_K5_2021, + "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020, + "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN, + "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV, + "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN, + "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV, + "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022, + "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021, + "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN, + "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4, + "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL, + "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H, + "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL, + "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS, + "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN, + "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO, + "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN, + "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, + "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER, + "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022, + "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED, + "KIA EV6 2022": HYUNDAI.KIA_EV6, + "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN, + "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN, + "GENESIS G70 2018": HYUNDAI.GENESIS_G70, + "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020, + "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN, + "GENESIS G80 2017": HYUNDAI.GENESIS_G80, + "GENESIS G90 2017": HYUNDAI.GENESIS_G90, + "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80, + "MAZDA CX-5": MAZDA.CX5, + "MAZDA CX-9": MAZDA.CX9, + "MAZDA 3": MAZDA.MAZDA3, + "MAZDA 6": MAZDA.MAZDA6, + "MAZDA CX-9 2021": MAZDA.CX9_2021, + "MAZDA CX-5 2022": MAZDA.CX5_2022, + "NISSAN X-TRAIL 2017": NISSAN.XTRAIL, + "NISSAN LEAF 2018": NISSAN.LEAF, + "NISSAN ROGUE 2019": NISSAN.ROGUE, + "NISSAN ALTIMA 2020": NISSAN.ALTIMA, + "SUBARU ASCENT LIMITED 2019": SUBARU.ASCENT, + "SUBARU OUTBACK 6TH GEN": SUBARU.OUTBACK, + "SUBARU LEGACY 7TH GEN": SUBARU.LEGACY, + "SUBARU IMPREZA LIMITED 2019": SUBARU.IMPREZA, + "SUBARU IMPREZA SPORT 2020": SUBARU.IMPREZA_2020, + "SUBARU CROSSTREK HYBRID 2020": SUBARU.CROSSTREK_HYBRID, + "SUBARU FORESTER 2019": SUBARU.FORESTER, + "SUBARU FORESTER HYBRID 2020": SUBARU.FORESTER_HYBRID, + "SUBARU FORESTER 2017 - 2018": SUBARU.FORESTER_PREGLOBAL, + "SUBARU LEGACY 2015 - 2018": SUBARU.LEGACY_PREGLOBAL, + "SUBARU OUTBACK 2015 - 2017": SUBARU.OUTBACK_PREGLOBAL, + "SUBARU OUTBACK 2018 - 2019": SUBARU.OUTBACK_PREGLOBAL_2018, + "SUBARU FORESTER 2022": SUBARU.FORESTER_2022, + "SUBARU OUTBACK 7TH GEN": SUBARU.OUTBACK_2023, + "SUBARU ASCENT 2023": SUBARU.ASCENT_2023, + 'TESLA AP1 MODEL S': TESLA.AP1_MODELS, + 'TESLA AP2 MODEL S': TESLA.AP2_MODELS, + 'TESLA MODEL S RAVEN': TESLA.MODELS_RAVEN, + "TOYOTA ALPHARD 2020": TOYOTA.ALPHARD_TSS2, + "TOYOTA AVALON 2016": TOYOTA.AVALON, + "TOYOTA AVALON 2019": TOYOTA.AVALON_2019, + "TOYOTA AVALON 2022": TOYOTA.AVALON_TSS2, + "TOYOTA CAMRY 2018": TOYOTA.CAMRY, + "TOYOTA CAMRY 2021": TOYOTA.CAMRY_TSS2, + "TOYOTA C-HR 2018": TOYOTA.CHR, + "TOYOTA C-HR 2021": TOYOTA.CHR_TSS2, + "TOYOTA COROLLA 2017": TOYOTA.COROLLA, + "TOYOTA COROLLA TSS2 2019": TOYOTA.COROLLA_TSS2, + "TOYOTA HIGHLANDER 2017": TOYOTA.HIGHLANDER, + "TOYOTA HIGHLANDER 2020": TOYOTA.HIGHLANDER_TSS2, + "TOYOTA PRIUS 2017": TOYOTA.PRIUS, + "TOYOTA PRIUS v 2017": TOYOTA.PRIUS_V, + "TOYOTA PRIUS TSS2 2021": TOYOTA.PRIUS_TSS2, + "TOYOTA RAV4 2017": TOYOTA.RAV4, + "TOYOTA RAV4 HYBRID 2017": TOYOTA.RAV4H, + "TOYOTA RAV4 2019": TOYOTA.RAV4_TSS2, + "TOYOTA RAV4 2022": TOYOTA.RAV4_TSS2_2022, + "TOYOTA RAV4 2023": TOYOTA.RAV4_TSS2_2023, + "TOYOTA MIRAI 2021": TOYOTA.MIRAI, + "TOYOTA SIENNA 2018": TOYOTA.SIENNA, + "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH, + "LEXUS ES 2018": TOYOTA.LEXUS_ES, + "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2, + "LEXUS IS 2018": TOYOTA.LEXUS_IS, + "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2, + "LEXUS NX 2018": TOYOTA.LEXUS_NX, + "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2, + "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2, + "LEXUS RC 2020": TOYOTA.LEXUS_RC, + "LEXUS RX 2016": TOYOTA.LEXUS_RX, + "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2, + "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F, + "VOLKSWAGEN ARTEON 1ST GEN": VW.ARTEON_MK1, + "VOLKSWAGEN ATLAS 1ST GEN": VW.ATLAS_MK1, + "VOLKSWAGEN CADDY 3RD GEN": VW.CADDY_MK3, + "VOLKSWAGEN CRAFTER 2ND GEN": VW.CRAFTER_MK2, + "VOLKSWAGEN GOLF 7TH GEN": VW.GOLF_MK7, + "VOLKSWAGEN JETTA 7TH GEN": VW.JETTA_MK7, + "VOLKSWAGEN PASSAT 8TH GEN": VW.PASSAT_MK8, + "VOLKSWAGEN PASSAT NMS": VW.PASSAT_NMS, + "VOLKSWAGEN POLO 6TH GEN": VW.POLO_MK6, + "VOLKSWAGEN SHARAN 2ND GEN": VW.SHARAN_MK2, + "VOLKSWAGEN TAOS 1ST GEN": VW.TAOS_MK1, + "VOLKSWAGEN T-CROSS 1ST GEN": VW.TCROSS_MK1, + "VOLKSWAGEN TIGUAN 2ND GEN": VW.TIGUAN_MK2, + "VOLKSWAGEN TOURAN 2ND GEN": VW.TOURAN_MK2, + "VOLKSWAGEN TRANSPORTER T6.1": VW.TRANSPORTER_T61, + "VOLKSWAGEN T-ROC 1ST GEN": VW.TROC_MK1, + "AUDI A3 3RD GEN": VW.AUDI_A3_MK3, + "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1, + "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2, + "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1, + "SEAT LEON 3RD GEN": VW.SEAT_LEON_MK3, + "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4, + "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1, + "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1, + "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1, + "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3, + "SKODA SCALA 1ST GEN": VW.SKODA_SCALA_MK1, + "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3, } diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index eeafc47ae2..c8b0da3fd3 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -97,12 +97,10 @@ class FordCANFDPlatformConfig(FordPlatformConfig): class CAR(Platforms): BRONCO_SPORT_MK1 = FordPlatformConfig( - "FORD BRONCO SPORT 1ST GEN", [FordCarDocs("Ford Bronco Sport 2021-23")], CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), ) ESCAPE_MK4 = FordPlatformConfig( - "FORD ESCAPE 4TH GEN", [ FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True), FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True), @@ -110,7 +108,6 @@ class CAR(Platforms): CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), ) EXPLORER_MK6 = FordPlatformConfig( - "FORD EXPLORER 6TH GEN", [ FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only @@ -118,22 +115,18 @@ class CAR(Platforms): CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), ) F_150_MK14 = FordCANFDPlatformConfig( - "FORD F-150 14TH GEN", [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)], CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), ) F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig( - "FORD F-150 LIGHTNING 1ST GEN", [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")], CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), ) FOCUS_MK4 = FordPlatformConfig( - "FORD FOCUS 4TH GEN", [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), ) MAVERICK_MK1 = FordPlatformConfig( - "FORD MAVERICK 1ST GEN", [ FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True), FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True), @@ -141,7 +134,6 @@ class CAR(Platforms): CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), ) MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig( - "FORD MUSTANG MACH-E 1ST GEN", [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")], CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio ) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index ec6453757b..24ec9dfb66 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -91,57 +91,46 @@ class GMPlatformConfig(PlatformConfig): class CAR(Platforms): HOLDEN_ASTRA = GMPlatformConfig( - "HOLDEN ASTRA RS-V BK 2017", [GMCarDocs("Holden Astra 2017")], GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), ) VOLT = GMPlatformConfig( - "CHEVROLET VOLT PREMIER 2017", [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")], GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469), ) CADILLAC_ATS = GMPlatformConfig( - "CADILLAC ATS Premium Performance 2018", [GMCarDocs("Cadillac ATS Premium Performance 2018")], GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), ) MALIBU = GMPlatformConfig( - "CHEVROLET MALIBU PREMIER 2017", [GMCarDocs("Chevrolet Malibu Premier 2017")], GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), ) ACADIA = GMPlatformConfig( - "GMC ACADIA DENALI 2018", [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")], GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), ) BUICK_LACROSSE = GMPlatformConfig( - "BUICK LACROSSE 2017", [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")], GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), ) BUICK_REGAL = GMPlatformConfig( - "BUICK REGAL ESSENCE 2018", [GMCarDocs("Buick Regal Essence 2018")], GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), ) ESCALADE = GMPlatformConfig( - "CADILLAC ESCALADE 2017", [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")], GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), ) ESCALADE_ESV = GMPlatformConfig( - "CADILLAC ESCALADE ESV 2016", [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")], GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0), ) ESCALADE_ESV_2019 = GMPlatformConfig( - "CADILLAC ESCALADE ESV 2019", [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")], ESCALADE_ESV.specs, ) BOLT_EUV = GMPlatformConfig( - "CHEVROLET BOLT EUV 2022", [ GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), @@ -149,7 +138,6 @@ class CAR(Platforms): GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), ) SILVERADO = GMPlatformConfig( - "CHEVROLET SILVERADO 1500 2020", [ GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"), GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), @@ -157,12 +145,10 @@ class CAR(Platforms): GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0), ) EQUINOX = GMPlatformConfig( - "CHEVROLET EQUINOX 2019", [GMCarDocs("Chevrolet Equinox 2019-22")], GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), ) TRAILBLAZER = GMPlatformConfig( - "CHEVROLET TRAILBLAZER 2021", [GMCarDocs("Chevrolet Trailblazer 2021-22")], GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), ) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 6789667fe6..ef565e89bf 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -116,7 +116,6 @@ class HondaNidecPlatformConfig(PlatformConfig): class CAR(Platforms): # Bosch Cars ACCORD = HondaBoschPlatformConfig( - "HONDA ACCORD 2018", [ HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), @@ -127,7 +126,6 @@ class CAR(Platforms): dbc_dict('honda_accord_2018_can_generated', None), ) CIVIC_BOSCH = HondaBoschPlatformConfig( - "HONDA CIVIC (BOSCH) 2019", [ HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), @@ -137,13 +135,11 @@ class CAR(Platforms): dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), ) CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig( - "HONDA CIVIC SEDAN 1.6 DIESEL 2019", [], # don't show in docs CIVIC_BOSCH.specs, dbc_dict('honda_accord_2018_can_generated', None), ) CIVIC_2022 = HondaBoschPlatformConfig( - "HONDA CIVIC 2022", [ HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), @@ -153,7 +149,6 @@ class CAR(Platforms): flags=HondaFlags.BOSCH_RADARLESS, ) CRV_5G = HondaBoschPlatformConfig( - "HONDA CR-V 2017", [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)], # steerRatio: 12.3 is spec end-to-end CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), @@ -161,34 +156,29 @@ class CAR(Platforms): flags=HondaFlags.BOSCH_ALT_BRAKE, ) CRV_HYBRID = HondaBoschPlatformConfig( - "HONDA CR-V HYBRID 2019", [HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)], # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), dbc_dict('honda_accord_2018_can_generated', None), ) HRV_3G = HondaBoschPlatformConfig( - "HONDA HR-V 2023", [HondaCarDocs("Honda HR-V 2023", "All")], CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5), dbc_dict('honda_civic_ex_2022_can_generated', None), flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE, ) ACURA_RDX_3G = HondaBoschPlatformConfig( - "ACURA RDX 2020", [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)], CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec dbc_dict('acura_rdx_2020_can_generated', None), flags=HondaFlags.BOSCH_ALT_BRAKE, ) INSIGHT = HondaBoschPlatformConfig( - "HONDA INSIGHT 2019", [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)], CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec dbc_dict('honda_insight_ex_2019_can_generated', None), ) HONDA_E = HondaBoschPlatformConfig( - "HONDA E 2020", [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)], CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82), dbc_dict('acura_rdx_2020_can_generated', None), @@ -196,70 +186,60 @@ class CAR(Platforms): # Nidec Cars ACURA_ILX = HondaNidecPlatformConfig( - "ACURA ILX 2016", [HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)], CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CRV = HondaNidecPlatformConfig( - "HONDA CR-V 2016", [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)], CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CRV_EU = HondaNidecPlatformConfig( - "HONDA CR-V EU 2016", [], # Euro version of CRV Touring, don't show in docs CRV.specs, dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) FIT = HondaNidecPlatformConfig( - "HONDA FIT 2018", [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)], CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) FREED = HondaNidecPlatformConfig( - "HONDA FREED 2020", [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)], CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) HRV = HondaNidecPlatformConfig( - "HONDA HRV 2019", [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)], HRV_3G.specs, dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) ODYSSEY = HondaNidecPlatformConfig( - "HONDA ODYSSEY 2018", [HondaCarDocs("Honda Odyssey 2018-20")], CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_PCM_ACCEL, ) ODYSSEY_CHN = HondaNidecPlatformConfig( - "HONDA ODYSSEY CHN 2019", [], # Chinese version of Odyssey, don't show in docs ODYSSEY.specs, dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) ACURA_RDX = HondaNidecPlatformConfig( - "ACURA RDX 2018", [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)], CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) PILOT = HondaNidecPlatformConfig( - "HONDA PILOT 2017", [ HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), @@ -269,14 +249,12 @@ class CAR(Platforms): flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) RIDGELINE = HondaNidecPlatformConfig( - "HONDA RIDGELINE 2017", [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)], CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CIVIC = HondaNidecPlatformConfig( - "HONDA CIVIC 2016", [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")], CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index d81d9ad510..81587fc68a 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -135,12 +135,10 @@ class HyundaiCanFDPlatformConfig(PlatformConfig): class CAR(Platforms): # Hyundai AZERA_6TH_GEN = HyundaiPlatformConfig( - "HYUNDAI AZERA 6TH GEN", [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), ) AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( - "HYUNDAI AZERA HYBRID 6TH GEN", [ HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), @@ -149,7 +147,6 @@ class CAR(Platforms): flags=HyundaiFlags.HYBRID, ) ELANTRA = HyundaiPlatformConfig( - "HYUNDAI ELANTRA 2017", [ # TODO: 2017-18 could be Hyundai G HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), @@ -160,7 +157,6 @@ class CAR(Platforms): flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, ) ELANTRA_GT_I30 = HyundaiPlatformConfig( - "HYUNDAI I30 N LINE 2019 & GT 2018 DCT", [ HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), @@ -169,20 +165,17 @@ class CAR(Platforms): flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, ) ELANTRA_2021 = HyundaiPlatformConfig( - "HYUNDAI ELANTRA 2021", [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), flags=HyundaiFlags.CHECKSUM_CRC8, ) ELANTRA_HEV_2021 = HyundaiPlatformConfig( - "HYUNDAI ELANTRA HYBRID 2021", [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) HYUNDAI_GENESIS = HyundaiPlatformConfig( - "HYUNDAI GENESIS 2015-2016", [ # TODO: check 2015 packages HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), @@ -192,119 +185,100 @@ class CAR(Platforms): flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY, ) IONIQ = HyundaiPlatformConfig( - "HYUNDAI IONIQ HYBRID 2017-2019", [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))], CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, ) IONIQ_HEV_2022 = HyundaiPlatformConfig( - "HYUNDAI IONIQ HYBRID 2020-2022", [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))], # TODO: confirm 2020-21 harness, CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, ) IONIQ_EV_LTD = HyundaiPlatformConfig( - "HYUNDAI IONIQ ELECTRIC LIMITED 2019", [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))], CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH, ) IONIQ_EV_2020 = HyundaiPlatformConfig( - "HYUNDAI IONIQ ELECTRIC 2020", [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV, ) IONIQ_PHEV_2019 = HyundaiPlatformConfig( - "HYUNDAI IONIQ PLUG-IN HYBRID 2019", [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))], CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, ) IONIQ_PHEV = HyundaiPlatformConfig( - "HYUNDAI IONIQ PHEV 2020", [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID, ) KONA = HyundaiPlatformConfig( - "HYUNDAI KONA 2020", [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))], CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.CLUSTER_GEARS, ) KONA_EV = HyundaiPlatformConfig( - "HYUNDAI KONA ELECTRIC 2019", [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))], CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV, ) KONA_EV_2022 = HyundaiPlatformConfig( - "HYUNDAI KONA ELECTRIC 2022", [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))], CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV, ) KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( - "HYUNDAI KONA ELECTRIC 2ND GEN", [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r]))], CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, ) KONA_HEV = HyundaiPlatformConfig( - "HYUNDAI KONA HYBRID 2020", [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages, CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID, ) SANTA_FE = HyundaiPlatformConfig( - "HYUNDAI SANTA FE 2019", [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", car_parts=CarParts.common([CarHarness.hyundai_d]))], CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, ) SANTA_FE_2022 = HyundaiPlatformConfig( - "HYUNDAI SANTA FE 2022", [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l]))], SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8, ) SANTA_FE_HEV_2022 = HyundaiPlatformConfig( - "HYUNDAI SANTA FE HYBRID 2022", [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))], SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( - "HYUNDAI SANTA FE PlUG-IN HYBRID 2022", [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))], SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) SONATA = HyundaiPlatformConfig( - "HYUNDAI SONATA 2020", [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a]))], CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, ) SONATA_LF = HyundaiPlatformConfig( - "HYUNDAI SONATA 2019", [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))], CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, ) STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( - "HYUNDAI STARIA 4TH GEN", [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf ) TUCSON = HyundaiPlatformConfig( - "HYUNDAI TUCSON 2019", [ HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), @@ -313,7 +287,6 @@ class CAR(Platforms): flags=HyundaiFlags.TCU_GEARS, ) PALISADE = HyundaiPlatformConfig( - "HYUNDAI PALISADE 2020", [ HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), @@ -322,19 +295,16 @@ class CAR(Platforms): flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, ) VELOSTER = HyundaiPlatformConfig( - "HYUNDAI VELOSTER 2019", [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))], CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5), flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS, ) SONATA_HYBRID = HyundaiPlatformConfig( - "HYUNDAI SONATA HYBRID 2021", [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))], SONATA.specs, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) IONIQ_5 = HyundaiCanFDPlatformConfig( - "HYUNDAI IONIQ 5 2022", [ HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), @@ -344,13 +314,11 @@ class CAR(Platforms): flags=HyundaiFlags.EV, ) IONIQ_6 = HyundaiCanFDPlatformConfig( - "HYUNDAI IONIQ 6 2023", [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))], IONIQ_5.specs, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, ) TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( - "HYUNDAI TUCSON 4TH GEN", [ HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), @@ -359,13 +327,11 @@ class CAR(Platforms): CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385), ) SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( - "HYUNDAI SANTA CRUZ 1ST GEN", [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))], # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2), ) CUSTIN_1ST_GEN = HyundaiPlatformConfig( - "HYUNDAI CUSTIN 1ST GEN", [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner flags=HyundaiFlags.CHECKSUM_CRC8, @@ -373,7 +339,6 @@ class CAR(Platforms): # Kia KIA_FORTE = HyundaiPlatformConfig( - "KIA FORTE E 2018 & GT 2021", [ HyundaiCarDocs("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), @@ -381,25 +346,21 @@ class CAR(Platforms): CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) ) KIA_K5_2021 = HyundaiPlatformConfig( - "KIA K5 2021", [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))], CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims) flags=HyundaiFlags.CHECKSUM_CRC8, ) KIA_K5_HEV_2020 = HyundaiPlatformConfig( - "KIA K5 HYBRID 2020", [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))], KIA_K5_2021.specs, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( - "KIA K8 HYBRID 1ST GEN", [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))], # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27) ) KIA_NIRO_EV = HyundaiPlatformConfig( - "KIA NIRO EV 2020", [ HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), @@ -410,13 +371,11 @@ class CAR(Platforms): flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV, ) KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( - "KIA NIRO EV 2ND GEN", [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))], KIA_NIRO_EV.specs, flags=HyundaiFlags.EV, ) KIA_NIRO_PHEV = HyundaiPlatformConfig( - "KIA NIRO HYBRID 2019", [ HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), @@ -426,7 +385,6 @@ class CAR(Platforms): flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH, ) KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig( - "KIA NIRO PLUG-IN HYBRID 2022", [ HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), @@ -435,7 +393,6 @@ class CAR(Platforms): flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR, ) KIA_NIRO_HEV_2021 = HyundaiPlatformConfig( - "KIA NIRO HYBRID 2021", [ HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), @@ -444,44 +401,37 @@ class CAR(Platforms): flags=HyundaiFlags.HYBRID, ) KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( - "KIA NIRO HYBRID 2ND GEN", [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))], KIA_NIRO_EV.specs, ) KIA_OPTIMA_G4 = HyundaiPlatformConfig( - "KIA OPTIMA 4TH GEN", [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b]))], # TODO: may support 2016, 2018 CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH, ) KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( - "KIA OPTIMA 4TH GEN FACELIFT", [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))], CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, ) # TODO: may support adjacent years. may have a non-zero minimum steering speed KIA_OPTIMA_H = HyundaiPlatformConfig( - "KIA OPTIMA HYBRID 2017 & SPORTS 2019", [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))], CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, ) KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( - "KIA OPTIMA HYBRID 4TH GEN FACELIFT", [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))], CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL, ) KIA_SELTOS = HyundaiPlatformConfig( - "KIA SELTOS 2021", [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))], CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56), flags=HyundaiFlags.CHECKSUM_CRC8, ) KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig( - "KIA SPORTAGE 5TH GEN", [ HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), @@ -490,7 +440,6 @@ class CAR(Platforms): CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6), ) KIA_SORENTO = HyundaiPlatformConfig( - "KIA SORENTO GT LINE 2018", [ HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), @@ -500,13 +449,11 @@ class CAR(Platforms): flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL, ) KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( - "KIA SORENTO 4TH GEN", [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms flags=HyundaiFlags.RADAR_SCC, ) KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig( - "KIA SORENTO HYBRID 4TH GEN", [ HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), @@ -515,24 +462,20 @@ class CAR(Platforms): flags=HyundaiFlags.RADAR_SCC, ) KIA_STINGER = HyundaiPlatformConfig( - "KIA STINGER GT2 2018", [HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c]))], CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable ) KIA_STINGER_2022 = HyundaiPlatformConfig( - "KIA STINGER 2022", [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], KIA_STINGER.specs, ) KIA_CEED = HyundaiPlatformConfig( - "KIA CEED INTRO ED 2019", [HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))], CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.LEGACY, ) KIA_EV6 = HyundaiCanFDPlatformConfig( - "KIA EV6 2022", [ HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), HyundaiCarDocs("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), @@ -542,7 +485,6 @@ class CAR(Platforms): flags=HyundaiFlags.EV, ) KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig( - "KIA CARNIVAL 4TH GEN", [ HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) @@ -553,7 +495,6 @@ class CAR(Platforms): # Genesis GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig( - "GENESIS GV60 ELECTRIC 1ST GEN", [ HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), @@ -562,19 +503,16 @@ class CAR(Platforms): flags=HyundaiFlags.EV, ) GENESIS_G70 = HyundaiPlatformConfig( - "GENESIS G70 2018", [HyundaiCarDocs("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))], CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56), flags=HyundaiFlags.LEGACY, ) GENESIS_G70_2020 = HyundaiPlatformConfig( - "GENESIS G70 2020", [HyundaiCarDocs("Genesis G70 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))], CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), flags=HyundaiFlags.MANDO_RADAR, ) GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( - "GENESIS GV70 1ST GEN", [ HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), @@ -583,18 +521,15 @@ class CAR(Platforms): flags=HyundaiFlags.RADAR_SCC, ) GENESIS_G80 = HyundaiPlatformConfig( - "GENESIS G80 2017", [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5), flags=HyundaiFlags.LEGACY, ) GENESIS_G90 = HyundaiPlatformConfig( - "GENESIS G90 2017", [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))], CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069), ) GENESIS_GV80 = HyundaiCanFDPlatformConfig( - "GENESIS GV80 2023", [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))], CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14), flags=HyundaiFlags.RADAR_SCC, diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index d10b47e2b4..9d8278f951 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -51,32 +51,26 @@ class MazdaPlatformConfig(PlatformConfig): class CAR(Platforms): CX5 = MazdaPlatformConfig( - "MAZDA CX-5", [MazdaCarDocs("Mazda CX-5 2017-21")], MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) ) CX9 = MazdaPlatformConfig( - "MAZDA CX-9", [MazdaCarDocs("Mazda CX-9 2016-20")], MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) ) MAZDA3 = MazdaPlatformConfig( - "MAZDA 3", [MazdaCarDocs("Mazda 3 2017-18")], MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) ) MAZDA6 = MazdaPlatformConfig( - "MAZDA 6", [MazdaCarDocs("Mazda 6 2017-20")], MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) ) CX9_2021 = MazdaPlatformConfig( - "MAZDA CX-9 2021", [MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")], CX9.specs ) CX5_2022 = MazdaPlatformConfig( - "MAZDA CX-5 2022", [MazdaCarDocs("Mazda CX-5 2022-24")], CX5.specs, ) diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index 214c6809db..f98aac2ee3 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -3,7 +3,6 @@ from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms class CAR(Platforms): MOCK = PlatformConfig( - 'mock', [], CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13), {} diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 83e9bf0b46..35503a9306 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -38,26 +38,22 @@ class NissanPlaformConfig(PlatformConfig): class CAR(Platforms): XTRAIL = NissanPlaformConfig( - "NISSAN X-TRAIL 2017", [NissanCarDocs("Nissan X-Trail 2017")], NissanCarSpecs(mass=1610, wheelbase=2.705) ) LEAF = NissanPlaformConfig( - "NISSAN LEAF 2018", [NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")], NissanCarSpecs(mass=1610, wheelbase=2.705), dbc_dict('nissan_leaf_2018_generated', None), ) # Leaf with ADAS ECU found behind instrument cluster instead of glovebox # Currently the only known difference between them is the inverted seatbelt signal. - LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_docs=[]) + LEAF_IC = LEAF.override(car_docs=[]) ROGUE = NissanPlaformConfig( - "NISSAN ROGUE 2019", [NissanCarDocs("Nissan Rogue 2018-20")], NissanCarSpecs(mass=1610, wheelbase=2.705) ) ALTIMA = NissanPlaformConfig( - "NISSAN ALTIMA 2020", [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))], NissanCarSpecs(mass=1492, wheelbase=2.824) ) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 3a57fde39d..80263c1e94 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -121,22 +121,18 @@ class SubaruGen2PlatformConfig(SubaruPlatformConfig): class CAR(Platforms): # Global platform ASCENT = SubaruPlatformConfig( - "SUBARU ASCENT LIMITED 2019", [SubaruCarDocs("Subaru Ascent 2019-21", "All")], CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), ) OUTBACK = SubaruGen2PlatformConfig( - "SUBARU OUTBACK 6TH GEN", [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))], CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), ) LEGACY = SubaruGen2PlatformConfig( - "SUBARU LEGACY 7TH GEN", [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))], OUTBACK.specs, ) IMPREZA = SubaruPlatformConfig( - "SUBARU IMPREZA LIMITED 2019", [ SubaruCarDocs("Subaru Impreza 2017-19"), SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), @@ -145,7 +141,6 @@ class CAR(Platforms): CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15), ) IMPREZA_2020 = SubaruPlatformConfig( - "SUBARU IMPREZA SPORT 2020", [ SubaruCarDocs("Subaru Impreza 2020-22"), SubaruCarDocs("Subaru Crosstrek 2020-23"), @@ -156,47 +151,40 @@ class CAR(Platforms): ) # TODO: is there an XV and Impreza too? CROSSTREK_HYBRID = SubaruPlatformConfig( - "SUBARU CROSSTREK HYBRID 2020", [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))], CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), flags=SubaruFlags.HYBRID, ) FORESTER = SubaruPlatformConfig( - "SUBARU FORESTER 2019", [SubaruCarDocs("Subaru Forester 2019-21", "All")], CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), flags=SubaruFlags.STEER_RATE_LIMITED, ) FORESTER_HYBRID = SubaruPlatformConfig( - "SUBARU FORESTER HYBRID 2020", [SubaruCarDocs("Subaru Forester Hybrid 2020")], FORESTER.specs, flags=SubaruFlags.HYBRID, ) # Pre-global FORESTER_PREGLOBAL = SubaruPlatformConfig( - "SUBARU FORESTER 2017 - 2018", [SubaruCarDocs("Subaru Forester 2017-18")], CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), dbc_dict('subaru_forester_2017_generated', None), flags=SubaruFlags.PREGLOBAL, ) LEGACY_PREGLOBAL = SubaruPlatformConfig( - "SUBARU LEGACY 2015 - 2018", [SubaruCarDocs("Subaru Legacy 2015-18")], CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), dbc_dict('subaru_outback_2015_generated', None), flags=SubaruFlags.PREGLOBAL, ) OUTBACK_PREGLOBAL = SubaruPlatformConfig( - "SUBARU OUTBACK 2015 - 2017", [SubaruCarDocs("Subaru Outback 2015-17")], FORESTER_PREGLOBAL.specs, dbc_dict('subaru_outback_2015_generated', None), flags=SubaruFlags.PREGLOBAL, ) OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( - "SUBARU OUTBACK 2018 - 2019", [SubaruCarDocs("Subaru Outback 2018-19")], FORESTER_PREGLOBAL.specs, dbc_dict('subaru_outback_2019_generated', None), @@ -204,19 +192,16 @@ class CAR(Platforms): ) # Angle LKAS FORESTER_2022 = SubaruPlatformConfig( - "SUBARU FORESTER 2022", [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))], FORESTER.specs, flags=SubaruFlags.LKAS_ANGLE, ) OUTBACK_2023 = SubaruGen2PlatformConfig( - "SUBARU OUTBACK 7TH GEN", [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))], OUTBACK.specs, flags=SubaruFlags.LKAS_ANGLE, ) ASCENT_2023 = SubaruGen2PlatformConfig( - "SUBARU ASCENT 2023", [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))], ASCENT.specs, flags=SubaruFlags.LKAS_ANGLE, diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 74f38f2dc0..84dd8c51a3 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -11,19 +11,16 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) class CAR(Platforms): AP1_MODELS = PlatformConfig( - 'TESLA AP1 MODEL S', [CarDocs("Tesla AP1 Model S", "All")], CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0), dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can') ) AP2_MODELS = PlatformConfig( - 'TESLA AP2 MODEL S', [CarDocs("Tesla AP2 Model S", "All")], AP1_MODELS.specs, AP1_MODELS.dbc_dict ) MODELS_RAVEN = PlatformConfig( - 'TESLA MODEL S RAVEN', [CarDocs("Tesla Model S Raven", "All")], AP1_MODELS.specs, dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can') diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 48ae36ffcc..9b2cbeeb52 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -44,8 +44,8 @@ routes = [ CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID), CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID), CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020), - CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500), - CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), + CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500_5TH_GEN), + CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD_5TH_GEN, segment=6), CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO), CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1), diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py index 63621b459d..e768abd20f 100755 --- a/selfdrive/car/tests/test_can_fingerprint.py +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -28,7 +28,7 @@ class TestCanFingerprint(unittest.TestCase): def test_timing(self): # just pick any CAN fingerprinting car - car_model = 'CHEVROLET BOLT EUV 2022' + car_model = "BOLT_EUV" fingerprint = FINGERPRINTS[car_model][0] cases = [] diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py index 0b42a2b289..523c331b9e 100755 --- a/selfdrive/car/tests/test_platform_configs.py +++ b/selfdrive/car/tests/test_platform_configs.py @@ -8,14 +8,16 @@ from openpilot.selfdrive.car.values import PLATFORMS class TestPlatformConfigs(unittest.TestCase): def test_configs(self): - for platform in PLATFORMS.values(): + for name, platform in PLATFORMS.items(): with self.subTest(platform=str(platform)): self.assertTrue(platform.config._frozen) - if platform != "mock": + if platform != "MOCK": self.assertIn("pt", platform.config.dbc_dict) self.assertTrue(len(platform.config.platform_str) > 0) + self.assertEqual(name, platform.config.platform_str) + self.assertIsNotNone(platform.config.specs) diff --git a/selfdrive/car/torque_data/neural_ff_weights.json b/selfdrive/car/torque_data/neural_ff_weights.json index c526f07fa2..47d7ced4f9 100644 --- a/selfdrive/car/torque_data/neural_ff_weights.json +++ b/selfdrive/car/torque_data/neural_ff_weights.json @@ -1 +1 @@ -{"CHEVROLET BOLT EUV 2022": {"w_1": [[0.3452189564704895, -0.15614677965641022, -0.04062516987323761, -0.5960758328437805, 0.3211185932159424, 0.31732726097106934, -0.04430829733610153, -0.37327295541763306, -0.14118380844593048, 0.12712529301643372, 0.2641555070877075, -0.3451094627380371, -0.005127656273543835, 0.6185108423233032, 0.03725295141339302, 0.3763789236545563], [-0.0708412230014801, 0.3667356073856354, 0.031383827328681946, 0.1740853488445282, -0.04695861041545868, 0.018055908381938934, 0.009072160348296165, -0.23640218377113342, -0.10362917929887772, 0.022628149017691612, -0.224413201212883, 0.20718418061733246, -0.016947750002145767, -0.3872031271457672, -0.15500062704086304, -0.06375953555107117], [-0.0838046595454216, -0.0242826659232378, -0.07765661180019379, 0.028858814388513565, -0.09516210108995438, 0.008368706330657005, 0.1689300835132599, 0.015036891214549541, -0.15121428668498993, 0.1388195902109146, 0.11486363410949707, 0.0651545450091362, 0.13559958338737488, 0.04300367832183838, -0.13856294751167297, -0.058136988431215286], [-0.006249868310987949, 0.08809533715248108, -0.040690965950489044, 0.02359287068247795, -0.00766348373144865, 0.24816390872001648, -0.17360293865203857, -0.03676899895071983, -0.17564819753170013, 0.18998438119888306, -0.050583917647600174, -0.006488069426268339, 0.10649101436138153, -0.024557121098041534, -0.103276826441288, 0.18448011577129364]], "b_1": [0.2935388386249542, 0.10967712104320526, -0.014007942751049995, 0.211833655834198, 0.33605605363845825, 0.37722209095954895, -0.16615016758441925, 0.3134673535823822, 0.06695777177810669, 0.3425212800502777, 0.3769673705101013, 0.23186539113521576, 0.5770409107208252, -0.05929069593548775, 0.01839117519557476, 0.03828774020075798], "w_2": [[-0.06261160969734192, 0.010185074992477894, -0.06083013117313385, -0.04531499370932579, -0.08979734033346176, 0.3432150185108185, -0.019801849499344826, 0.3010321259498596], [0.19698476791381836, -0.009238275699317455, 0.08842222392559052, -0.09516377002000809, -0.05022778362035751, 0.13626104593276978, -0.052890390157699585, 0.15569131076335907], [0.0724768117070198, -0.09018408507108688, 0.06850195676088333, -0.025572121143341064, 0.0680626779794693, -0.07648195326328278, 0.07993496209383011, -0.059752143919467926], [1.267876386642456, -0.05755887180566788, -0.08429178595542908, 0.021366603672504425, -0.0006479775765910745, -1.4292563199996948, -0.08077696710824966, -1.414825439453125], [0.04535430669784546, 0.06555880606174469, -0.027145234867930412, -0.07661093026399612, -0.05702832341194153, 0.23650476336479187, 0.0024587824009358883, 0.20126521587371826], [0.006042032968252897, 0.042880818247795105, 0.002187949838116765, -0.017126334831118584, -0.08352015167474747, 0.19801731407642365, -0.029196614399552345, 0.23713473975658417], [-0.01644900068640709, -0.04358499124646187, 0.014584392309188843, 0.07155826687812805, -0.09354910999536514, -0.033351872116327286, 0.07138452678918839, -0.04755295440554619], [-1.1012420654296875, -0.03534531593322754, 0.02167935110628605, -0.01116552110761404, -0.08436500281095505, 1.1038788557052612, 0.027903547510504723, 1.0676132440567017], [0.03843916580080986, -0.0952216386795044, 0.039226632565259933, 0.002778085647150874, -0.020275786519050598, -0.07848760485649109, 0.04803166165947914, 0.015538203530013561], [0.018385495990514755, -0.025189843028783798, 0.0036680365446954966, -0.02105865254998207, 0.04808586835861206, 0.1575016975402832, 0.02703506126999855, 0.23039312660694122], [-0.0033881019335240126, -0.10210853815078735, -0.04877309128642082, 0.006989633198827505, 0.046798162162303925, 0.38676899671554565, -0.032304272055625916, 0.2345031052827835], [0.22092825174331665, -0.09642873704433441, 0.04499409720301628, 0.05108088254928589, -0.10191166400909424, 0.12818090617656708, -0.021021494641900063, 0.09440375864505768], [0.1212429478764534, -0.028194155544042587, -0.0981956496834755, 0.08226924389600754, 0.055346839129924774, 0.27067816257476807, -0.09064067900180817, 0.12580905854701996], [-1.6740131378173828, -0.02066155895590782, -0.05924689769744873, 0.06347910314798355, -0.07821853458881378, 1.2807466983795166, 0.04589352011680603, 1.310766577720642], [-0.09893272817134857, -0.04093599319458008, -0.02502273954451084, 0.09490344673395157, -0.0211324505507946, -0.09021010994911194, 0.07936318963766098, -0.03593116253614426], [-0.08490308374166489, -0.015558987855911255, -0.048692114651203156, -0.007421435788273811, -0.040531404316425323, 0.25889304280281067, 0.06012800335884094, 0.27946868538856506]], "b_2": [0.07973937690258026, -0.010446485131978989, -0.003066520905122161, -0.031895797699689865, 0.006032303906977177, 0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}} \ No newline at end of file +{"BOLT_EUV": {"w_1": [[0.3452189564704895, -0.15614677965641022, -0.04062516987323761, -0.5960758328437805, 0.3211185932159424, 0.31732726097106934, -0.04430829733610153, -0.37327295541763306, -0.14118380844593048, 0.12712529301643372, 0.2641555070877075, -0.3451094627380371, -0.005127656273543835, 0.6185108423233032, 0.03725295141339302, 0.3763789236545563], [-0.0708412230014801, 0.3667356073856354, 0.031383827328681946, 0.1740853488445282, -0.04695861041545868, 0.018055908381938934, 0.009072160348296165, -0.23640218377113342, -0.10362917929887772, 0.022628149017691612, -0.224413201212883, 0.20718418061733246, -0.016947750002145767, -0.3872031271457672, -0.15500062704086304, -0.06375953555107117], [-0.0838046595454216, -0.0242826659232378, -0.07765661180019379, 0.028858814388513565, -0.09516210108995438, 0.008368706330657005, 0.1689300835132599, 0.015036891214549541, -0.15121428668498993, 0.1388195902109146, 0.11486363410949707, 0.0651545450091362, 0.13559958338737488, 0.04300367832183838, -0.13856294751167297, -0.058136988431215286], [-0.006249868310987949, 0.08809533715248108, -0.040690965950489044, 0.02359287068247795, -0.00766348373144865, 0.24816390872001648, -0.17360293865203857, -0.03676899895071983, -0.17564819753170013, 0.18998438119888306, -0.050583917647600174, -0.006488069426268339, 0.10649101436138153, -0.024557121098041534, -0.103276826441288, 0.18448011577129364]], "b_1": [0.2935388386249542, 0.10967712104320526, -0.014007942751049995, 0.211833655834198, 0.33605605363845825, 0.37722209095954895, -0.16615016758441925, 0.3134673535823822, 0.06695777177810669, 0.3425212800502777, 0.3769673705101013, 0.23186539113521576, 0.5770409107208252, -0.05929069593548775, 0.01839117519557476, 0.03828774020075798], "w_2": [[-0.06261160969734192, 0.010185074992477894, -0.06083013117313385, -0.04531499370932579, -0.08979734033346176, 0.3432150185108185, -0.019801849499344826, 0.3010321259498596], [0.19698476791381836, -0.009238275699317455, 0.08842222392559052, -0.09516377002000809, -0.05022778362035751, 0.13626104593276978, -0.052890390157699585, 0.15569131076335907], [0.0724768117070198, -0.09018408507108688, 0.06850195676088333, -0.025572121143341064, 0.0680626779794693, -0.07648195326328278, 0.07993496209383011, -0.059752143919467926], [1.267876386642456, -0.05755887180566788, -0.08429178595542908, 0.021366603672504425, -0.0006479775765910745, -1.4292563199996948, -0.08077696710824966, -1.414825439453125], [0.04535430669784546, 0.06555880606174469, -0.027145234867930412, -0.07661093026399612, -0.05702832341194153, 0.23650476336479187, 0.0024587824009358883, 0.20126521587371826], [0.006042032968252897, 0.042880818247795105, 0.002187949838116765, -0.017126334831118584, -0.08352015167474747, 0.19801731407642365, -0.029196614399552345, 0.23713473975658417], [-0.01644900068640709, -0.04358499124646187, 0.014584392309188843, 0.07155826687812805, -0.09354910999536514, -0.033351872116327286, 0.07138452678918839, -0.04755295440554619], [-1.1012420654296875, -0.03534531593322754, 0.02167935110628605, -0.01116552110761404, -0.08436500281095505, 1.1038788557052612, 0.027903547510504723, 1.0676132440567017], [0.03843916580080986, -0.0952216386795044, 0.039226632565259933, 0.002778085647150874, -0.020275786519050598, -0.07848760485649109, 0.04803166165947914, 0.015538203530013561], [0.018385495990514755, -0.025189843028783798, 0.0036680365446954966, -0.02105865254998207, 0.04808586835861206, 0.1575016975402832, 0.02703506126999855, 0.23039312660694122], [-0.0033881019335240126, -0.10210853815078735, -0.04877309128642082, 0.006989633198827505, 0.046798162162303925, 0.38676899671554565, -0.032304272055625916, 0.2345031052827835], [0.22092825174331665, -0.09642873704433441, 0.04499409720301628, 0.05108088254928589, -0.10191166400909424, 0.12818090617656708, -0.021021494641900063, 0.09440375864505768], [0.1212429478764534, -0.028194155544042587, -0.0981956496834755, 0.08226924389600754, 0.055346839129924774, 0.27067816257476807, -0.09064067900180817, 0.12580905854701996], [-1.6740131378173828, -0.02066155895590782, -0.05924689769744873, 0.06347910314798355, -0.07821853458881378, 1.2807466983795166, 0.04589352011680603, 1.310766577720642], [-0.09893272817134857, -0.04093599319458008, -0.02502273954451084, 0.09490344673395157, -0.0211324505507946, -0.09021010994911194, 0.07936318963766098, -0.03593116253614426], [-0.08490308374166489, -0.015558987855911255, -0.048692114651203156, -0.007421435788273811, -0.040531404316425323, 0.25889304280281067, 0.06012800335884094, 0.27946868538856506]], "b_2": [0.07973937690258026, -0.010446485131978989, -0.003066520905122161, -0.031895797699689865, 0.006032303906977177, 0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}} \ No newline at end of file diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index 3de33b88db..11308fad79 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -1,76 +1,76 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] ### angle control # Nissan appears to have torque -"NISSAN X-TRAIL 2017" = [nan, 1.5, nan] -"NISSAN ALTIMA 2020" = [nan, 1.5, nan] -"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan] -"NISSAN LEAF 2018" = [nan, 1.5, nan] -"NISSAN ROGUE 2019" = [nan, 1.5, nan] +"XTRAIL" = [nan, 1.5, nan] +"ALTIMA" = [nan, 1.5, nan] +"LEAF_IC" = [nan, 1.5, nan] +"LEAF" = [nan, 1.5, nan] +"ROGUE" = [nan, 1.5, nan] # New subarus angle based controllers -"SUBARU FORESTER 2022" = [nan, 3.0, nan] -"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan] -"SUBARU ASCENT 2023" = [nan, 3.0, nan] +"FORESTER_2022" = [nan, 3.0, nan] +"OUTBACK_2023" = [nan, 3.0, nan] +"ASCENT_2023" = [nan, 3.0, nan] # Toyota LTA also has torque -"TOYOTA RAV4 2023" = [nan, 3.0, nan] +"RAV4_TSS2_2023" = [nan, 3.0, nan] # Tesla has high torque -"TESLA AP1 MODEL S" = [nan, 2.5, nan] -"TESLA AP2 MODEL S" = [nan, 2.5, nan] -"TESLA MODEL S RAVEN" = [nan, 2.5, nan] +"AP1_MODELS" = [nan, 2.5, nan] +"AP2_MODELS" = [nan, 2.5, nan] +"MODELS_RAVEN" = [nan, 2.5, nan] # Guess -"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan] -"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan] -"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan] -"FORD F-150 14TH GEN" = [nan, 1.5, nan] -"FORD FOCUS 4TH GEN" = [nan, 1.5, nan] -"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan] -"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan] -"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan] +"BRONCO_SPORT_MK1" = [nan, 1.5, nan] +"ESCAPE_MK4" = [nan, 1.5, nan] +"EXPLORER_MK6" = [nan, 1.5, nan] +"F_150_MK14" = [nan, 1.5, nan] +"FOCUS_MK4" = [nan, 1.5, nan] +"MAVERICK_MK1" = [nan, 1.5, nan] +"F_150_LIGHTNING_MK1" = [nan, 1.5, nan] +"MUSTANG_MACH_E_MK1" = [nan, 1.5, nan] ### # No steering wheel -"COMMA BODY" = [nan, 1000, nan] +"BODY" = [nan, 1000, nan] # Totally new cars -"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05] -"RAM HD 5TH GEN" = [1.4, 1.4, 0.05] -"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2] -"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] -"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2] -"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05] -"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112] -"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16] -"CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05] -"VOLKSWAGEN CADDY 3RD GEN" = [1.2, 1.2, 0.1] -"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1] -"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1] -"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1] -"KIA SPORTAGE 5TH GEN" = [2.6, 2.6, 0.1] -"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1] -"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1] -"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1] -"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1] -"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12] -"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14] -"GENESIS GV80 2023" = [2.5, 2.5, 0.1] -"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15] -"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2] -"LEXUS IS 2023" = [2.0, 2.0, 0.1] -"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1] -"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1] -"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1] -"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1] -"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1] -"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1] -"LEXUS GS F 2016" = [2.5, 2.5, 0.08] -"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15] +"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05] +"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05] +"OUTBACK" = [2.0, 2.0, 0.2] +"ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] +"ESCALADE_ESV_2019" = [1.15, 1.3, 0.2] +"BOLT_EUV" = [2.0, 2.0, 0.05] +"SILVERADO" = [1.9, 1.9, 0.112] +"TRAILBLAZER" = [1.33, 1.9, 0.16] +"EQUINOX" = [2.5, 2.5, 0.05] +"CADDY_MK3" = [1.2, 1.2, 0.1] +"PASSAT_NMS" = [2.5, 2.5, 0.1] +"SHARAN_MK2" = [2.5, 2.5, 0.1] +"SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1] +"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1] +"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1] +"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1] +"KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1] +"KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1] +"KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12] +"KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14] +"GENESIS_GV80" = [2.5, 2.5, 0.1] +"KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15] +"ACADIA" = [1.6, 1.6, 0.2] +"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1] +"KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1] +"IONIQ_6" = [2.5, 2.5, 0.1] +"AZERA_6TH_GEN" = [1.8, 1.8, 0.1] +"AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1] +"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1] +"CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1] +"LEXUS_GS_F" = [2.5, 2.5, 0.08] +"STARIA_4TH_GEN" = [1.8, 2.0, 0.15] # Dashcam or fallback configured as ideal car -"mock" = [10.0, 10, 0.0] +"MOCK" = [10.0, 10, 0.0] # Manually checked -"HONDA CIVIC 2022" = [2.5, 1.2, 0.15] -"HONDA HR-V 2023" = [2.5, 1.2, 0.2] +"CIVIC_2022" = [2.5, 1.2, 0.15] +"HRV_3G" = [2.5, 1.2, 0.2] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml index 142332b220..048c5a1812 100644 --- a/selfdrive/car/torque_data/params.toml +++ b/selfdrive/car/torque_data/params.toml @@ -1,85 +1,85 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] -"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028] -"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844] -"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] -"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] -"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] -"CHEVROLET VOLT PREMIER 2017" = [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 HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237] -"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818] -"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520] -"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] -"HONDA ACCORD 2018" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265] -"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] -"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] -"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] -"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] -"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] -"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281] -"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] -"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] -"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] -"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] -"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] -"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819] -"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171] -"HYUNDAI IONIQ 5 2022" = [3.172929, 2.713050, 0.096019] -"HYUNDAI IONIQ ELECTRIC LIMITED 2019" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276] -"HYUNDAI IONIQ PHEV 2020" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] -"HYUNDAI IONIQ PLUG-IN HYBRID 2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -"HYUNDAI KONA ELECTRIC 2019" = [3.078814714619148, 2.307336938253934, 0.12359762054065548] -"HYUNDAI PALISADE 2020" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651] -"HYUNDAI SANTA FE 2019" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] -"HYUNDAI SANTA FE HYBRID 2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963] -"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] -"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] -"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] -"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] -"HYUNDAI TUCSON 4TH GEN" = [2.960174, 2.860284, 0.108745] -"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048] -"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003] -"KIA EV6 2022" = [3.2, 2.093457, 0.05] -"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] -"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] -"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] -"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202] -"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533] -"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] -"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] -"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] -"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] -"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] -"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] -"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627] -"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] -"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492] -"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] -"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193] -"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] -"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753] -"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436] -"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] -"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] -"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] -"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] -"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] -"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515] -"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968] -"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975] -"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817] +"ACURA_ILX" = [1.524988973896102, 0.519011053086259, 0.34236219253028] +"ACURA_RDX" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844] +"ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] +"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] +"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] +"VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] +"PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022] +"PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085] +"PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237] +"PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818] +"PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520] +"GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] +"ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265] +"CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] +"CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] +"CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] +"CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] +"FIT" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281] +"HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] +"INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] +"ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] +"PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] +"RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] +"ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819] +"HYUNDAI_GENESIS" = [2.7807965280270794, 2.325, 0.0984484465421171] +"IONIQ_5" = [3.172929, 2.713050, 0.096019] +"IONIQ_EV_LTD" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276] +"IONIQ_PHEV" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] +"IONIQ_PHEV_2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482] +"KONA_EV" = [3.078814714619148, 2.307336938253934, 0.12359762054065548] +"PALISADE" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651] +"SANTA_FE" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] +"SANTA_FE_HEV_2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963] +"SANTA_FE_PHEV_2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] +"SONATA_LF" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] +"SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] +"SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +"TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745] +"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048] +"JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003] +"KIA_EV6" = [3.2, 2.093457, 0.05] +"KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] +"KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] +"KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] +"KIA_STINGER" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202] +"LEXUS_ES_TSS2" = [2.0357564999999997, 1.999082295195227, 0.101533] +"LEXUS_NX" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] +"LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] +"LEXUS_RX" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] +"LEXUS_RX_TSS2" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] +"CX9_2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +"SKODA_SUPERB_MK3" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708] +"FORESTER" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745] +"IMPREZA" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] +"IMPREZA_2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627] +"AVALON" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] +"AVALON_2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492] +"AVALON_TSS2" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] +"CHR" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193] +"CHR_TSS2" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] +"CAMRY" = [2.0568162685952505, 1.7576185169559122, 0.108878753] +"CAMRY_TSS2" = [2.3548324999999997, 2.368900128946771, 0.118436] +"COROLLA" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] +"COROLLA_TSS2" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] +"HIGHLANDER" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] +"HIGHLANDER_TSS2" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] +"MIRAI" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] +"PRIUS" = [1.60, 1.5023147650693636, 0.151515] +"PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968] +"RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975] +"RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817] "TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] "TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986] -"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] -"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174] +"RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] +"RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174] "TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736] -"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456] -"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] -"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] -"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] -"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712] -"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] -"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] +"SIENNA" = [1.689726, 1.3208264576110418, 0.140456] +"ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] +"ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] +"GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] +"JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712] +"PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] +"TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml index 6822ef437b..2cf5bf41e5 100644 --- a/selfdrive/car/torque_data/substitute.toml +++ b/selfdrive/car/torque_data/substitute.toml @@ -1,85 +1,85 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] -"MAZDA 3" = "MAZDA CX-9 2021" -"MAZDA 6" = "MAZDA CX-9 2021" -"MAZDA CX-5" = "MAZDA CX-9 2021" -"MAZDA CX-5 2022" = "MAZDA CX-9 2021" -"MAZDA CX-9" = "MAZDA CX-9 2021" +"MAZDA3" = "CX9_2021" +"MAZDA6" = "CX9_2021" +"CX5" = "CX9_2021" +"CX5_2022" = "CX9_2021" +"CX9" = "CX9_2021" -"DODGE DURANGO 2021" = "CHRYSLER PACIFICA 2020" +"DODGE_DURANGO" = "PACIFICA_2020" -"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018" -"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017" -"LEXUS IS 2018" = "LEXUS NX 2018" -"LEXUS CT HYBRID 2018" = "LEXUS NX 2018" -"LEXUS ES 2018" = "TOYOTA CAMRY 2018" -"LEXUS RC 2020" = "LEXUS NX 2020" -"LEXUS LC 2024" = "LEXUS NX 2020" +"ALPHARD_TSS2" = "SIENNA" +"PRIUS_V" = "PRIUS" +"LEXUS_IS" = "LEXUS_NX" +"LEXUS_CTH" = "LEXUS_NX" +"LEXUS_ES" = "CAMRY" +"LEXUS_RC" = "LEXUS_NX_TSS2" +"LEXUS_LC_TSS2" = "LEXUS_NX_TSS2" -"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020" -"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" -"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020" -"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" -"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020" -"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020" -"KIA SELTOS 2021" = "HYUNDAI SONATA 2020" -"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020" -"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020" -"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020" -"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019" -"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019" -"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019" -"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019" -"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" -"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" -"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" -"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019" -"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019" -"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020" -"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019" -"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022" -"KIA K5 HYBRID 2020" = "KIA K5 2021" -"KIA STINGER 2022" = "KIA STINGER GT2 2018" -"GENESIS G90 2017" = "GENESIS G70 2018" -"GENESIS G80 2017" = "GENESIS G70 2018" -"GENESIS G70 2020" = "HYUNDAI SONATA 2020" +"KIA_OPTIMA_G4" = "SONATA" +"KIA_OPTIMA_G4_FL" = "SONATA" +"KIA_OPTIMA_H" = "SONATA" +"KIA_OPTIMA_H_G4_FL" = "SONATA" +"KIA_FORTE" = "SONATA" +"KIA_CEED" = "SONATA" +"KIA_SELTOS" = "SONATA" +"KIA_NIRO_PHEV" = "KIA_NIRO_EV" +"KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV" +"KIA_NIRO_HEV_2021" = "KIA_NIRO_EV" +"VELOSTER" = "SONATA_LF" +"KONA" = "KONA_EV" +"KONA_HEV" = "KONA_EV" +"KONA_EV_2022" = "KONA_EV" +"IONIQ" = "IONIQ_PHEV_2019" +"IONIQ_HEV_2022" = "IONIQ_PHEV_2019" +"IONIQ_EV_2020" = "IONIQ_PHEV_2019" +"ELANTRA" = "SONATA_LF" +"ELANTRA_GT_I30" = "SONATA_LF" +"ELANTRA_HEV_2021" = "SONATA" +"TUCSON" = "SANTA_FE" +"SANTA_FE_2022" = "SANTA_FE_HEV_2022" +"KIA_K5_HEV_2020" = "KIA_K5_2021" +"KIA_STINGER_2022" = "KIA_STINGER" +"GENESIS_G90" = "GENESIS_G70" +"GENESIS_G80" = "GENESIS_G70" +"GENESIS_G70_2020" = "SONATA" -"HONDA FREED 2020" = "HONDA ODYSSEY 2018" -"HONDA CR-V EU 2016" = "HONDA CR-V 2016" -"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019" -"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019" -"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018" +"FREED" = "ODYSSEY" +"CRV_EU" = "CRV" +"CIVIC_BOSCH_DIESEL" = "CIVIC_BOSCH" +"HONDA_E" = "CIVIC_BOSCH" +"ODYSSEY_CHN" = "ODYSSEY" -"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017" -"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017" -"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017" -"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017" -"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017" -"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017" +"BUICK_LACROSSE" = "VOLT" +"BUICK_REGAL" = "VOLT" +"ESCALADE_ESV" = "VOLT" +"CADILLAC_ATS" = "VOLT" +"MALIBU" = "VOLT" +"HOLDEN_ASTRA" = "VOLT" -"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" -"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN" -"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN" -"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN" -"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN" -"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN" -"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" -"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" -"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" -"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" -"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN" -"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" -"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" -"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" -"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN" -"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SKODA_FABIA_MK4" = "GOLF_MK7" +"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3" +"SKODA_SCALA_MK1" = "SKODA_SUPERB_MK3" +"SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3" +"SKODA_KAROQ_MK1" = "SKODA_SUPERB_MK3" +"SKODA_KAMIQ_MK1" = "SKODA_SUPERB_MK3" +"CRAFTER_MK2" = "TIGUAN_MK2" +"TROC_MK1" = "TIGUAN_MK2" +"TCROSS_MK1" = "TIGUAN_MK2" +"TOURAN_MK2" = "TIGUAN_MK2" +"TRANSPORTER_T61" = "TIGUAN_MK2" +"AUDI_Q2_MK1" = "TIGUAN_MK2" +"TAOS_MK1" = "TIGUAN_MK2" +"POLO_MK6" = "GOLF_MK7" +"SEAT_LEON_MK3" = "GOLF_MK7" +"SEAT_ATECA_MK1" = "GOLF_MK7" -"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" -"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" -"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN" +"CROSSTREK_HYBRID" = "IMPREZA_2020" +"FORESTER_HYBRID" = "IMPREZA_2020" +"LEGACY" = "OUTBACK" # Old subarus don't have much data guessing it's like low torque impreza" -"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019" -"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019" -"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019" -"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019" -"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019" +"OUTBACK_PREGLOBAL_2018" = "IMPREZA" +"OUTBACK_PREGLOBAL" = "IMPREZA" +"FORESTER_PREGLOBAL" = "IMPREZA" +"LEGACY_PREGLOBAL" = "IMPREZA" +"ASCENT" = "FORESTER" diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 9a3e73048a..d8c28d8a8a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -86,7 +86,6 @@ class ToyotaTSS2PlatformConfig(PlatformConfig): class CAR(Platforms): # Toyota ALPHARD_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA ALPHARD 2020", [ ToyotaCarDocs("Toyota Alphard 2019-20"), ToyotaCarDocs("Toyota Alphard Hybrid 2021"), @@ -94,7 +93,6 @@ class CAR(Platforms): CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444), ) AVALON = PlatformConfig( - "TOYOTA AVALON 2016", [ ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"), ToyotaCarDocs("Toyota Avalon 2017-18"), @@ -103,7 +101,6 @@ class CAR(Platforms): dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), ) AVALON_2019 = PlatformConfig( - "TOYOTA AVALON 2019", [ ToyotaCarDocs("Toyota Avalon 2019-21"), ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"), @@ -111,8 +108,7 @@ class CAR(Platforms): AVALON.specs, dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), ) - AVALON_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA AVALON 2022", # TSS 2.5 + AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5 [ ToyotaCarDocs("Toyota Avalon 2022"), ToyotaCarDocs("Toyota Avalon Hybrid 2022"), @@ -120,7 +116,6 @@ class CAR(Platforms): AVALON.specs, ) CAMRY = PlatformConfig( - "TOYOTA CAMRY 2018", [ ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), @@ -129,8 +124,7 @@ class CAR(Platforms): dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_DSU, ) - CAMRY_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA CAMRY 2021", # TSS 2.5 + CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5 [ ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarDocs("Toyota Camry Hybrid 2021-24"), @@ -138,7 +132,6 @@ class CAR(Platforms): CAMRY.specs, ) CHR = PlatformConfig( - "TOYOTA C-HR 2018", [ ToyotaCarDocs("Toyota C-HR 2017-20"), ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"), @@ -148,7 +141,6 @@ class CAR(Platforms): flags=ToyotaFlags.NO_DSU, ) CHR_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA C-HR 2021", [ ToyotaCarDocs("Toyota C-HR 2021"), ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"), @@ -157,14 +149,12 @@ class CAR(Platforms): flags=ToyotaFlags.RADAR_ACC, ) COROLLA = PlatformConfig( - "TOYOTA COROLLA 2017", [ToyotaCarDocs("Toyota Corolla 2017-19")], CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), ) # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid COROLLA_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA COROLLA TSS2 2019", [ ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5), @@ -178,7 +168,6 @@ class CAR(Platforms): CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444), ) HIGHLANDER = PlatformConfig( - "TOYOTA HIGHLANDER 2017", [ ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"), @@ -188,7 +177,6 @@ class CAR(Platforms): flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, ) HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA HIGHLANDER 2020", [ ToyotaCarDocs("Toyota Highlander 2020-23"), ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"), @@ -196,7 +184,6 @@ class CAR(Platforms): HIGHLANDER.specs, ) PRIUS = PlatformConfig( - "TOYOTA PRIUS 2017", [ ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), @@ -206,14 +193,12 @@ class CAR(Platforms): dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), ) PRIUS_V = PlatformConfig( - "TOYOTA PRIUS v 2017", [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)], CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, ) PRIUS_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA PRIUS TSS2 2021", [ ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), @@ -221,7 +206,6 @@ class CAR(Platforms): CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371), ) RAV4 = PlatformConfig( - "TOYOTA RAV4 2017", [ ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"), ToyotaCarDocs("Toyota RAV4 2017-18") @@ -230,7 +214,6 @@ class CAR(Platforms): dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), ) RAV4H = PlatformConfig( - "TOYOTA RAV4 HYBRID 2017", [ ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") @@ -240,7 +223,6 @@ class CAR(Platforms): flags=ToyotaFlags.NO_STOP_TIMER, ) RAV4_TSS2 = ToyotaTSS2PlatformConfig( - "TOYOTA RAV4 2019", [ ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"), @@ -248,7 +230,6 @@ class CAR(Platforms): CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933), ) RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig( - "TOYOTA RAV4 2022", [ ToyotaCarDocs("Toyota RAV4 2022"), ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), @@ -257,7 +238,6 @@ class CAR(Platforms): flags=ToyotaFlags.RADAR_ACC, ) RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( - "TOYOTA RAV4 2023", [ ToyotaCarDocs("Toyota RAV4 2023-24"), ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"), @@ -265,13 +245,11 @@ class CAR(Platforms): RAV4_TSS2.specs, flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, ) - MIRAI = ToyotaTSS2PlatformConfig( - "TOYOTA MIRAI 2021", # TSS 2.5 + MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5 [ToyotaCarDocs("Toyota Mirai 2021")], CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), ) SIENNA = PlatformConfig( - "TOYOTA SIENNA 2018", [ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)], CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), @@ -280,13 +258,11 @@ class CAR(Platforms): # Lexus LEXUS_CTH = PlatformConfig( - "LEXUS CT HYBRID 2018", [ToyotaCarDocs("Lexus CT Hybrid 2017-18", "Lexus Safety System+")], CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), ) LEXUS_ES = PlatformConfig( - "LEXUS ES 2018", [ ToyotaCarDocs("Lexus ES 2017-18"), ToyotaCarDocs("Lexus ES Hybrid 2017-18"), @@ -295,7 +271,6 @@ class CAR(Platforms): dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), ) LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig( - "LEXUS ES 2019", [ ToyotaCarDocs("Lexus ES 2019-24"), ToyotaCarDocs("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), @@ -303,19 +278,16 @@ class CAR(Platforms): LEXUS_ES.specs, ) LEXUS_IS = PlatformConfig( - "LEXUS IS 2018", [ToyotaCarDocs("Lexus IS 2017-19")], CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.UNSUPPORTED_DSU, ) LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig( - "LEXUS IS 2023", [ToyotaCarDocs("Lexus IS 2022-23")], LEXUS_IS.specs, ) LEXUS_NX = PlatformConfig( - "LEXUS NX 2018", [ ToyotaCarDocs("Lexus NX 2018-19"), ToyotaCarDocs("Lexus NX Hybrid 2018-19"), @@ -324,7 +296,6 @@ class CAR(Platforms): dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), ) LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig( - "LEXUS NX 2020", [ ToyotaCarDocs("Lexus NX 2020-21"), ToyotaCarDocs("Lexus NX Hybrid 2020-21"), @@ -332,19 +303,16 @@ class CAR(Platforms): LEXUS_NX.specs, ) LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig( - "LEXUS LC 2024", [ToyotaCarDocs("Lexus LC 2024")], CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444), ) LEXUS_RC = PlatformConfig( - "LEXUS RC 2020", [ToyotaCarDocs("Lexus RC 2018-20")], LEXUS_IS.specs, dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.UNSUPPORTED_DSU, ) LEXUS_RX = PlatformConfig( - "LEXUS RX 2016", [ ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarDocs("Lexus RX 2017-19"), @@ -356,7 +324,6 @@ class CAR(Platforms): dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), ) LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig( - "LEXUS RX 2020", [ ToyotaCarDocs("Lexus RX 2020-22"), ToyotaCarDocs("Lexus RX Hybrid 2020-22"), @@ -364,7 +331,6 @@ class CAR(Platforms): LEXUS_RX.specs, ) LEXUS_GS_F = PlatformConfig( - "LEXUS GS F 2016", [ToyotaCarDocs("Lexus GS F 2016")], CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 9019d857b8..c8116de579 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -177,8 +177,7 @@ class VWCarDocs(CarDocs): # Exception: SEAT Leon and SEAT Ateca share a chassis code class CAR(Platforms): - ARTEON_MK1 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN ARTEON 1ST GEN", # Chassis AN + ARTEON_MK1 = VolkswagenMQBPlatformConfig( # Chassis AN [ VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), @@ -187,8 +186,7 @@ class CAR(Platforms): ], VolkswagenCarSpecs(mass=1733, wheelbase=2.84), ) - ATLAS_MK1 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN ATLAS 1ST GEN", # Chassis CA + ATLAS_MK1 = VolkswagenMQBPlatformConfig( # Chassis CA [ VWCarDocs("Volkswagen Atlas 2018-23"), VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"), @@ -198,16 +196,14 @@ class CAR(Platforms): ], VolkswagenCarSpecs(mass=2011, wheelbase=2.98), ) - CADDY_MK3 = VolkswagenPQPlatformConfig( - "VOLKSWAGEN CADDY 3RD GEN", # Chassis 2K + CADDY_MK3 = VolkswagenPQPlatformConfig( # Chassis 2K [ VWCarDocs("Volkswagen Caddy 2019"), VWCarDocs("Volkswagen Caddy Maxi 2019"), ], VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS), ) - CRAFTER_MK2 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN CRAFTER 2ND GEN", # Chassis SY/SZ + CRAFTER_MK2 = VolkswagenMQBPlatformConfig( # Chassis SY/SZ [ VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), @@ -217,8 +213,7 @@ class CAR(Platforms): ], VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), ) - GOLF_MK7 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN GOLF 7TH GEN", # Chassis 5G/AU/BA/BE + GOLF_MK7 = VolkswagenMQBPlatformConfig( # Chassis 5G/AU/BA/BE [ VWCarDocs("Volkswagen e-Golf 2014-20"), VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False), @@ -231,16 +226,14 @@ class CAR(Platforms): ], VolkswagenCarSpecs(mass=1397, wheelbase=2.62), ) - JETTA_MK7 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN JETTA 7TH GEN", # Chassis BU + JETTA_MK7 = VolkswagenMQBPlatformConfig( # Chassis BU [ VWCarDocs("Volkswagen Jetta 2018-24"), VWCarDocs("Volkswagen Jetta GLI 2021-24"), ], VolkswagenCarSpecs(mass=1328, wheelbase=2.71), ) - PASSAT_MK8 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN PASSAT 8TH GEN", # Chassis 3G + PASSAT_MK8 = VolkswagenMQBPlatformConfig( # Chassis 3G [ VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), VWCarDocs("Volkswagen Passat Alltrack 2015-22"), @@ -248,65 +241,55 @@ class CAR(Platforms): ], VolkswagenCarSpecs(mass=1551, wheelbase=2.79), ) - PASSAT_NMS = VolkswagenPQPlatformConfig( - "VOLKSWAGEN PASSAT NMS", # Chassis A3 + PASSAT_NMS = VolkswagenPQPlatformConfig( # Chassis A3 [VWCarDocs("Volkswagen Passat NMS 2017-22")], VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS), ) - POLO_MK6 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN POLO 6TH GEN", # Chassis AW + POLO_MK6 = VolkswagenMQBPlatformConfig( # Chassis AW [ VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), ], VolkswagenCarSpecs(mass=1230, wheelbase=2.55), ) - SHARAN_MK2 = VolkswagenPQPlatformConfig( - "VOLKSWAGEN SHARAN 2ND GEN", # Chassis 7N + SHARAN_MK2 = VolkswagenPQPlatformConfig( # Chassis 7N [ VWCarDocs("Volkswagen Sharan 2018-22"), VWCarDocs("SEAT Alhambra 2018-20"), ], VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS), ) - TAOS_MK1 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN TAOS 1ST GEN", # Chassis B2 + TAOS_MK1 = VolkswagenMQBPlatformConfig( # Chassis B2 [VWCarDocs("Volkswagen Taos 2022-23")], VolkswagenCarSpecs(mass=1498, wheelbase=2.69), ) - TCROSS_MK1 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1 + TCROSS_MK1 = VolkswagenMQBPlatformConfig( # Chassis C1 [VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])], VolkswagenCarSpecs(mass=1150, wheelbase=2.60), ) - TIGUAN_MK2 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN TIGUAN 2ND GEN", # Chassis AD/BW + TIGUAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis AD/BW [ VWCarDocs("Volkswagen Tiguan 2018-24"), VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"), ], VolkswagenCarSpecs(mass=1715, wheelbase=2.74), ) - TOURAN_MK2 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T + TOURAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis 1T [VWCarDocs("Volkswagen Touran 2016-23")], VolkswagenCarSpecs(mass=1516, wheelbase=2.79), ) - TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN TRANSPORTER T6.1", # Chassis 7H/7L + TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( # Chassis 7H/7L [ VWCarDocs("Volkswagen Caravelle 2020"), VWCarDocs("Volkswagen California 2021-23"), ], VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0), ) - TROC_MK1 = VolkswagenMQBPlatformConfig( - "VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1 + TROC_MK1 = VolkswagenMQBPlatformConfig( # Chassis A1 [VWCarDocs("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0])], VolkswagenCarSpecs(mass=1413, wheelbase=2.63), ) - AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( - "AUDI A3 3RD GEN", # Chassis 8V/FF + AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( # Chassis 8V/FF [ VWCarDocs("Audi A3 2014-19"), VWCarDocs("Audi A3 Sportback e-tron 2017-18"), @@ -315,61 +298,50 @@ class CAR(Platforms): ], VolkswagenCarSpecs(mass=1335, wheelbase=2.61), ) - AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( - "AUDI Q2 1ST GEN", # Chassis GA + AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( # Chassis GA [VWCarDocs("Audi Q2 2018")], VolkswagenCarSpecs(mass=1205, wheelbase=2.61), ) - AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( - "AUDI Q3 2ND GEN", # Chassis 8U/F3/FS + AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( # Chassis 8U/F3/FS [VWCarDocs("Audi Q3 2019-23")], VolkswagenCarSpecs(mass=1623, wheelbase=2.68), ) - SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( - "SEAT ATECA 1ST GEN", # Chassis 5F + SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( # Chassis 5F [VWCarDocs("SEAT Ateca 2018")], VolkswagenCarSpecs(mass=1900, wheelbase=2.64), ) - SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig( - "SEAT LEON 3RD GEN", # Chassis 5F + SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig( # Chassis 5F [VWCarDocs("SEAT Leon 2014-20")], VolkswagenCarSpecs(mass=1227, wheelbase=2.64), ) - SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( - "SKODA FABIA 4TH GEN", # Chassis PJ + SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( # Chassis PJ [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])], VolkswagenCarSpecs(mass=1266, wheelbase=2.56), ) - SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( - "SKODA KAMIQ 1ST GEN", # Chassis NW + SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NW [VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ])], VolkswagenCarSpecs(mass=1265, wheelbase=2.66), ) - SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( - "SKODA KAROQ 1ST GEN", # Chassis NU + SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NU [VWCarDocs("Škoda Karoq 2019-23")], VolkswagenCarSpecs(mass=1278, wheelbase=2.66), ) - SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( - "SKODA KODIAQ 1ST GEN", # Chassis NS + SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NS [VWCarDocs("Škoda Kodiaq 2017-23")], VolkswagenCarSpecs(mass=1569, wheelbase=2.79), ) - SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( - "SKODA OCTAVIA 3RD GEN", # Chassis NE + SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( # Chassis NE [ VWCarDocs("Škoda Octavia 2015-19"), VWCarDocs("Škoda Octavia RS 2016"), ], VolkswagenCarSpecs(mass=1388, wheelbase=2.68), ) - SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig( - "SKODA SCALA 1ST GEN", # Chassis NW + SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig( # Chassis NW [VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0])], VolkswagenCarSpecs(mass=1192, wheelbase=2.65), ) - SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( - "SKODA SUPERB 3RD GEN", # Chassis 3V/NP + SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( # Chassis 3V/NP [VWCarDocs("Škoda Superb 2015-22")], VolkswagenCarSpecs(mass=1505, wheelbase=2.84), ) diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 42561f70f0..db845ed58f 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -52,7 +52,7 @@ def cycle_alerts(duration=200, is_metric=False): cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState'] CS = car.CarState.new_message() - CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016") + CP = CarInterface.get_non_essential_params("CIVIC") sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState'] + cameras) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index fe47637bdd..44090cce1a 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -14,7 +14,7 @@ from openpilot.system.version import training_version, terms_version def set_params_enabled(): - os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" + os.environ['FINGERPRINT'] = "COROLLA_TSS2" os.environ['LOGPRINT'] = "debug" params = Params() diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 099513a753..e88f62c10c 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,6 +1,7 @@ from collections import defaultdict from cereal import messaging +from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index from openpilot.selfdrive.car.toyota.values import EPS_SCALE from openpilot.selfdrive.manager.process_config import managed_processes @@ -72,9 +73,9 @@ def migrate_pandaStates(lr): all_msgs = [] # TODO: safety param migration should be handled automatically safety_param_migration = { - "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE, - "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, + "PRIUS": EPS_SCALE["PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, + "RAV4": EPS_SCALE["RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE, + "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } # Migrate safety param base on carState @@ -185,6 +186,7 @@ def migrate_carParams(lr, old_logtime=False): CP = messaging.new_message('carParams') CP.valid = True CP.carParams = msg.carParams.as_builder() + CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint) for car_fw in CP.carParams.carFw: car_fw.brand = CP.carParams.carName if old_logtime: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index dd3d530f70..cd0876f2af 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e29856a02cca7ab76461b2cc0acd25826a894667 \ No newline at end of file +9338c27947c1d8c1aa8e74ccc2a646e541f1ca8c \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 88e46abb06..99f04600a5 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -26,7 +26,7 @@ source_segments = [ ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID - ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500 + ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py index 41d67ea376..a0343d7d2d 100755 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -11,7 +11,7 @@ from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.framereader import FrameReader TESTED_SEGMENTS = [ - ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED + ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021: TICI, incomplete managerState # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1: TICI diff --git a/selfdrive/ui/tests/body.py b/selfdrive/ui/tests/body.py index c34e717eaf..7e24c2beb7 100755 --- a/selfdrive/ui/tests/body.py +++ b/selfdrive/ui/tests/body.py @@ -8,7 +8,7 @@ if __name__ == "__main__": batt = 1. while True: msg = messaging.new_message('carParams') - msg.carParams.carName = "COMMA BODY" + msg.carParams.carName = "BODY" msg.carParams.notCar = True pm.send('carParams', msg) diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index 5a8ef21d8b..dec1766a7e 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -6,7 +6,7 @@ from openpilot.selfdrive.car.values import create_platform_map def generate_dbc_json() -> str: - dbc_map = create_platform_map(lambda platform: platform.config.dbc_dict["pt"] if platform != "mock" else None) + dbc_map = create_platform_map(lambda platform: platform.config.dbc_dict["pt"] if platform != "MOCK" else None) return json.dumps(dict(sorted(dbc_map.items())), indent=2) diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md index 8db17b0976..a32e9f96c9 100644 --- a/tools/car_porting/README.md +++ b/tools/car_porting/README.md @@ -21,8 +21,8 @@ Given a route and platform, automatically inserts FW fingerprints from the platf Example: ```bash -> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' -Attempting to add fw version for: SUBARU OUTBACK 6TH GEN +> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK' +Attempting to add fw version for: OUTBACK ``` ### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py index f122c2774e..8b0ae6762d 100755 --- a/tools/car_porting/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -46,7 +46,7 @@ if __name__ == "__main__": if len(possible_platforms) != 1: print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}") - if carPlatform != "mock": + if carPlatform != "MOCK": print("Using platform from route") platform = carPlatform else: diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py index b293251583..5c8906f92d 100644 --- a/tools/lib/tests/test_comma_car_segments.py +++ b/tools/lib/tests/test_comma_car_segments.py @@ -19,7 +19,7 @@ class TestCommaCarSegments(unittest.TestCase): def test_download_segment(self): database = get_comma_car_segments_database() - fp = "SUBARU FORESTER 2019" + fp = "FORESTER" segment = database[fp][0] diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index 9532537283..06984b690b 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -4,7 +4,7 @@ export PASSIVE="0" export NOBOARD="1" export SIMULATION="1" export SKIP_FW_QUERY="1" -export FINGERPRINT="HONDA CIVIC 2016" +export FINGERPRINT="CIVIC" export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged" if [[ "$CI" ]]; then