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Extend torqued (#25961)

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* extend live torque to all hyundai and toyota cars

* update refs
old-commit-hash: ca746b0a18
taco
Vivek Aithal 3 years ago committed by GitHub
parent 8e1e6132c8
commit a03192a8d7
2 changed files with 3 additions and 4 deletions
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  1. 5
      selfdrive/locationd/torqued.py
  2. 2
      selfdrive/test/process_replay/ref_commit

5
selfdrive/locationd/torqued.py
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@ -12,7 +12,6 @@ from common.realtime import config_realtime_process, DT_MDL
from common.filter_simple import FirstOrderFilter from common.filter_simple import FirstOrderFilter
from system.swaglog import cloudlog from system.swaglog import cloudlog
from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from selfdrive.car.toyota.values import CAR as TOYOTA
HISTORY = 5 # secs HISTORY = 5 # secs
POINTS_PER_BUCKET = 1500 POINTS_PER_BUCKET = 1500
@ -33,7 +32,7 @@ MAX_INVALID_THRESHOLD = 10
MIN_ENGAGE_BUFFER = 2 # secs MIN_ENGAGE_BUFFER = 2 # secs
VERSION = 1 # bump this to invalidate old parameter caches VERSION = 1 # bump this to invalidate old parameter caches
ALLOWED_FINGERPRINTS = [TOYOTA.COROLLA_TSS2, TOYOTA.COROLLA, TOYOTA.COROLLAH_TSS2] ALLOWED_CARS = ['toyota', 'hyundai']
def slope2rot(slope): def slope2rot(slope):
@ -98,7 +97,7 @@ class TorqueEstimator:
self.offline_friction = 0.0 self.offline_friction = 0.0
self.offline_latAccelFactor = 0.0 self.offline_latAccelFactor = 0.0
self.resets = 0.0 self.resets = 0.0
self.use_params = CP.carFingerprint in ALLOWED_FINGERPRINTS self.use_params = CP.carName in ALLOWED_CARS
if CP.lateralTuning.which() == 'torque': if CP.lateralTuning.which() == 'torque':
self.offline_friction = CP.lateralTuning.torque.friction self.offline_friction = CP.lateralTuning.torque.friction

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
653fbfeac952c288ffd595ee13139b9547b998bf 1989d8c2a5de94faa3756b7d10fc94e6c063afa5
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