From b81c26e7beb1be0d233b0feb3b54707cbba1e96d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 23:54:45 -0700 Subject: [PATCH] Highlander: merge params (#25210) * merge highlander params * weight is average of tss normal/hybrid and tss2 normal/hybrid old-commit-hash: 5ea641b79aaa57115b71313eee4cb47b78394c28 --- selfdrive/car/toyota/interface.py | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 337c039565..21a5d47f62 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -93,20 +93,12 @@ class CarInterface(CarInterfaceBase): if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): set_lat_tune(ret.lateralTuning, LatTunes.PID_C) - elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True - ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m + ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 - ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people - set_lat_tune(ret.lateralTuning, LatTunes.PID_G) - - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH): - stop_and_go = True - ret.wheelbase = 2.78 - ret.steerRatio = 16.0 - tire_stiffness_factor = 0.8 - ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited + ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):