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PlatformConfig: automatically get platform_str from the enum name (#31868)

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* get platform_str from the enum name

* fix tests

* add migration table

* remove impossible todo

* Add link to PR in MIGRATION table

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Remove useless brand name comments and rename RAM_1500 to RAM_1500_5TH_GEN

* rename RAM_HD to RAM_HD_5TH_GEN

* rename references to RAM_HD and RAM_1500

* change "mock" to "MOCK" and rename torque data of Nissan Leaf 2018 IC

* remove MOCK from fingerprints.py

* change hard-coded car model in test_can_fingerprint.py/test_timing

* migration

* update ref

* space

* prius

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: justin newberry <justin@comma.ai>
Co-authored-by: Justin Newberry <jnewberry0502@gmail.com>
old-commit-hash: 489528dcae
pull/32199/head
thenhnn 1 year ago committed by GitHub
parent 0ca2fdb545
commit 77d6d1a8f1
39 changed files with 511 additions and 491 deletions
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  1. 2
      scripts/launch_corolla.sh
  2. 17
      selfdrive/car/__init__.py
  3. 1
      selfdrive/car/body/values.py
  4. 2
      selfdrive/car/car_helpers.py
  5. 4
      selfdrive/car/chrysler/fingerprints.py
  6. 4
      selfdrive/car/chrysler/interface.py
  7. 18
      selfdrive/car/chrysler/values.py
  8. 2
      selfdrive/car/docs_definitions.py
  9. 218
      selfdrive/car/fingerprints.py
  10. 8
      selfdrive/car/ford/values.py
  11. 14
      selfdrive/car/gm/values.py
  12. 22
      selfdrive/car/honda/values.py
  13. 65
      selfdrive/car/hyundai/values.py
  14. 6
      selfdrive/car/mazda/values.py
  15. 1
      selfdrive/car/mock/values.py
  16. 6
      selfdrive/car/nissan/values.py
  17. 15
      selfdrive/car/subaru/values.py
  18. 3
      selfdrive/car/tesla/values.py
  19. 4
      selfdrive/car/tests/routes.py
  20. 2
      selfdrive/car/tests/test_can_fingerprint.py
  21. 6
      selfdrive/car/tests/test_platform_configs.py
  22. 2
      selfdrive/car/torque_data/neural_ff_weights.json
  23. 112
      selfdrive/car/torque_data/override.toml
  24. 162
      selfdrive/car/torque_data/params.toml
  25. 150
      selfdrive/car/torque_data/substitute.toml
  26. 40
      selfdrive/car/toyota/values.py
  27. 84
      selfdrive/car/volkswagen/values.py
  28. 2
      selfdrive/debug/cycle_alerts.py
  29. 2
      selfdrive/test/helpers.py
  30. 8
      selfdrive/test/process_replay/migration.py
  31. 2
      selfdrive/test/process_replay/ref_commit
  32. 2
      selfdrive/test/process_replay/test_processes.py
  33. 2
      selfdrive/test/process_replay/test_regen.py
  34. 2
      selfdrive/ui/tests/body.py
  35. 2
      tools/cabana/dbc/generate_dbc_json.py
  36. 4
      tools/car_porting/README.md
  37. 2
      tools/car_porting/auto_fingerprint.py
  38. 2
      tools/lib/tests/test_comma_car_segments.py
  39. 2
      tools/sim/launch_openpilot.sh

2
scripts/launch_corolla.sh
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@ -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

17
selfdrive/car/__init__.py
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@ -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):

1
selfdrive/car/body/values.py
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@ -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),

2
selfdrive/car/car_helpers.py
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@ -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)

4
selfdrive/car/chrysler/fingerprints.py
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@ -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',

4
selfdrive/car/chrysler/interface.py
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@ -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)

18
selfdrive/car/chrysler/values.py
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@ -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

2
selfdrive/car/docs_definitions.py
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@ -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. <a href='https://www.commabody.com'>Learn more.</a>"
else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")

218
selfdrive/car/fingerprints.py
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@ -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,
}

8
selfdrive/car/ford/values.py
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@ -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
)

14
selfdrive/car/gm/values.py
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@ -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),
)

22
selfdrive/car/honda/values.py
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@ -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'),

65
selfdrive/car/hyundai/values.py
Unescape View File

@ -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,

6
selfdrive/car/mazda/values.py
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@ -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,
)

1
selfdrive/car/mock/values.py
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@ -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),
{}

6
selfdrive/car/nissan/values.py
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@ -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)
)

15
selfdrive/car/subaru/values.py
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@ -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,

3
selfdrive/car/tesla/values.py
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@ -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')

4
selfdrive/car/tests/routes.py
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@ -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),

2
selfdrive/car/tests/test_can_fingerprint.py
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@ -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 = []

6
selfdrive/car/tests/test_platform_configs.py
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@ -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)

2
selfdrive/car/torque_data/neural_ff_weights.json
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File diff suppressed because one or more lines are too long

112
selfdrive/car/torque_data/override.toml
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@ -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]

162
selfdrive/car/torque_data/params.toml
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@ -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]

150
selfdrive/car/torque_data/substitute.toml
Unescape View File

@ -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"

40
selfdrive/car/toyota/values.py
Unescape View File

@ -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'),

84
selfdrive/car/volkswagen/values.py
Unescape View File

@ -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),
)

2
selfdrive/debug/cycle_alerts.py
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@ -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)

2
selfdrive/test/helpers.py
Unescape View File

@ -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()

8
selfdrive/test/process_replay/migration.py
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@ -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:

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
e29856a02cca7ab76461b2cc0acd25826a894667
9338c27947c1d8c1aa8e74ccc2a646e541f1ca8c

2
selfdrive/test/process_replay/test_processes.py
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@ -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

2
selfdrive/test/process_replay/test_regen.py
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@ -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

2
selfdrive/ui/tests/body.py
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@ -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)

2
tools/cabana/dbc/generate_dbc_json.py
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@ -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)

4
tools/car_porting/README.md
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@ -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)

2
tools/car_porting/auto_fingerprint.py
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@ -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:

2
tools/lib/tests/test_comma_car_segments.py
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@ -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]

2
tools/sim/launch_openpilot.sh
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@ -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

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