Chrysler: revert torque tuning (#27327)

* Chrysler: revert torque tuning

* update refs

* update refs + route
old-commit-hash: e3de6b8834

panda

@@ -1 +1 @@
-Subproject commit d15250cb1454292c6f1217c79642b9ffd93e7595
+Subproject commit 14051f9ce3c9cbaf7044c81c9902dd0f1cea3980

selfdrive/car/chrysler/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, CHRYSLER_OLD_TUNING_BLACKLIST, ChryslerFlags
+from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -23,9 +23,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate in RAM_DT:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
-    if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_LOWER_RATE
-
     ret.minSteerSpeed = 3.8  # m/s
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
@@ -41,11 +38,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.089
       ret.steerRatio = 16.2  # Pacifica Hybrid 2017
 
-      if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
-        ret.lateralTuning.init('pid')
-        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
+      ret.lateralTuning.init('pid')
+      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
 
     # Jeep
     elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
@@ -54,11 +50,10 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.7
       ret.steerActuatorDelay = 0.2
 
-      if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
-        ret.lateralTuning.init('pid')
-        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
+      ret.lateralTuning.init('pid')
+      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
 
     # Ram
     elif candidate == CAR.RAM_1500:

selfdrive/car/chrysler/values.py

@@ -46,12 +46,8 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 6
       self.STEER_MAX = 261  # EPS allows more, up to 350?
     else:
-      if CP.carFingerprint in CHRYSLER_OLD_TUNING_BLACKLIST:
-        self.STEER_DELTA_UP = 3
-        self.STEER_DELTA_DOWN = 3
-      else:
-        self.STEER_DELTA_UP = 6
-        self.STEER_DELTA_DOWN = 6
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 3
       self.STEER_MAX = 261  # higher than this faults the EPS
 
 STEER_THRESHOLD = 120
@@ -60,9 +56,6 @@ RAM_DT = {CAR.RAM_1500, }
 RAM_HD = {CAR.RAM_HD, }
 RAM_CARS = RAM_DT | RAM_HD
 
-# the increased steer rate hasn't been verified on these cars.
-# remove from this list once it's been tested and confirmed to not fault
-CHRYSLER_OLD_TUNING_BLACKLIST = {CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE}
 
 @dataclass
 class ChryslerCarInfo(CarInfo):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-69e52f02fd21844ff068c495b7fcb01ebc53bea5
+5244c5fea84822bdbcd899a280090e47fb0581b7

selfdrive/test/process_replay/test_processes.py

@@ -48,7 +48,7 @@ segments = [
   ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
   ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
   ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
-  ("CHRYSLER", "regenC253C4DAC90|2023-02-10--15-51-03--0"),
+  ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
   ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
   ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
   ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),