From d0e5f3fb92d1bc9076c36d46f8b90640f1ce0b4c Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 15 Jun 2021 05:00:57 -0700 Subject: [PATCH] default carParams.stoppingControl to True (#21248) * hyundai has full brake control * set default stoppingControl to True * update ref Co-authored-by: Willem Melching old-commit-hash: 8071111f59371c9aee16dee3d6fb87f42464894b --- selfdrive/car/gm/interface.py | 1 - selfdrive/car/honda/interface.py | 1 - selfdrive/car/interfaces.py | 2 +- selfdrive/car/toyota/interface.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 7c28406cbc..e53766a095 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -106,7 +106,6 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [0.36] - ret.stoppingControl = True ret.startAccel = 0.8 ret.steerLimitTimer = 0.4 diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 65d61a70df..9eff1dfd45 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -429,7 +429,6 @@ class CarInterface(CarInterfaceBase): ret.brakeMaxBP = [5., 20.] # m/s ret.brakeMaxV = [1., 0.8] # max brake allowed - ret.stoppingControl = True ret.startAccel = 0.5 ret.steerActuatorDelay = 0.1 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f049434bfb..5fa826ca52 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -76,7 +76,7 @@ class CarInterfaceBase(): ret.minSpeedCan = 0.3 ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart - ret.stoppingControl = False + ret.stoppingControl = True ret.longitudinalTuning.deadzoneBP = [0.] ret.longitudinalTuning.deadzoneV = [0.] ret.longitudinalTuning.kpBP = [0.] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6408ad01ac..835ef9438f 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -24,6 +24,8 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 + ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop + if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 55fc34bb17..b88e5e740f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e070867608c1d0cca04f1979db57a8743abb3ad5 \ No newline at end of file +18ef295183f98d5b4e1019cceb7242b255d7d1e0 \ No newline at end of file