From 8daa2f45c81d1f9871fb02b3e9444191f80b0c40 Mon Sep 17 00:00:00 2001 From: mahlzeit1948 <32252711+mahlzeit1948@users.noreply.github.com> Date: Sun, 11 Apr 2021 20:18:31 -0400 Subject: [PATCH] Fix Chrysler Pacifica weight (#20647) * Update interface.py 2858 is the gross vehicle weight of the hybrid (maximum weight of vehicle + cargo). Curb weight for the ICE is 1964 kg, for the hybrid it is 2242 kg * hybrid & update refs Co-authored-by: Adeeb Shihadeh old-commit-hash: f6d800a89eede879fbe5637ad4bde5c89327bcfc --- selfdrive/car/chrysler/interface.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index ccf3bc9fe4..165c3f15e8 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase): # Speed conversion: 20, 45 mph ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 - ret.mass = 2858. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017 + ret.mass = 2242. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017 ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 99b8c7d556..89312f384f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fe6473297e919d459effbe4a9888a083c9a84ee5 \ No newline at end of file +1a3391dcabbcef563062010bda7ac89793528004 \ No newline at end of file