sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

platformconfig and carspecs are now required, carspecs no longer kwarg (#31667)

Browse Source 
* required

* mock can be a platform!

* default is mock

* fix that

* and that one
old-commit-hash: b0eae8c1b7
chrysler-long2
Justin Newberry 1 year ago committed by GitHub
parent 3ec004d482
commit e9ca84c95c
18 changed files with 245 additions and 244 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 5
      selfdrive/car/__init__.py
  2. 2
      selfdrive/car/body/values.py
  3. 15
      selfdrive/car/car_helpers.py
  4. 20
      selfdrive/car/chrysler/values.py
  5. 16
      selfdrive/car/ford/values.py
  6. 28
      selfdrive/car/gm/values.py
  7. 44
      selfdrive/car/honda/values.py
  8. 130
      selfdrive/car/hyundai/values.py
  9. 18
      selfdrive/car/interfaces.py
  10. 12
      selfdrive/car/mazda/values.py
  11. 16
      selfdrive/car/mock/values.py
  12. 10
      selfdrive/car/nissan/values.py
  13. 30
      selfdrive/car/subaru/values.py
  14. 4
      selfdrive/car/tesla/values.py
  15. 10
      selfdrive/car/tests/test_platform_configs.py
  16. 68
      selfdrive/car/toyota/values.py
  17. 56
      selfdrive/car/volkswagen/values.py
  18. 5
      selfdrive/controls/tests/test_state_machine.py

5
selfdrive/car/__init__.py
Unescape View File

@ -266,10 +266,11 @@ class CarSpecs:
class PlatformConfig(Freezable):
platform_str: str
car_info: CarInfos
specs: CarSpecs
dbc_dict: DbcDict
flags: int = 0
specs: CarSpecs | None = None
flags: int = 0
def __hash__(self) -> int:
return hash(self.platform_str)

2
selfdrive/car/body/values.py
Unescape View File

@ -23,8 +23,8 @@ class CAR(Platforms):
BODY = PlatformConfig(
"COMMA BODY",
CarInfo("comma body", package="All"),
CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
dbc_dict('comma_body', None),
specs=CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44)
)

15
selfdrive/car/car_helpers.py
Unescape View File

@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.common.swaglog import cloudlog
import cereal.messaging as messaging
from openpilot.selfdrive.car import gen_empty_fingerprint
@ -191,7 +192,7 @@ def fingerprint(logcan, sendcan, num_pandas):
fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
car_platform = PLATFORMS.get(car_fingerprint, car_fingerprint)
car_platform = PLATFORMS.get(car_fingerprint, MOCK.MOCK)
return car_platform, finger, vin, car_fw, source, exact_match
@ -212,14 +213,14 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
return CarInterface(CP, CarController, CarState), CP
def write_car_param(fingerprint="mock"):
def write_car_param(platform=MOCK.MOCK):
params = Params()
CarInterface, _, _ = interfaces[fingerprint]
CP = CarInterface.get_non_essential_params(fingerprint)
CarInterface, _, _ = interfaces[platform]
CP = CarInterface.get_non_essential_params(platform)
params.put("CarParams", CP.to_bytes())
def get_demo_car_params():
fingerprint="mock"
CarInterface, _, _ = interfaces[fingerprint]
CP = CarInterface.get_non_essential_params(fingerprint)
platform = MOCK.MOCK
CarInterface, _, _ = interfaces[platform]
CP = CarInterface.get_non_essential_params(platform)
return CP

20
selfdrive/car/chrysler/values.py
Unescape View File

@ -35,22 +35,22 @@ class CAR(Platforms):
PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2017",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
)
PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2018",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
specs=PACIFICA_2017_HYBRID.specs,
PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2019",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
specs=PACIFICA_2017_HYBRID.specs,
PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2018 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2018",
ChryslerCarInfo("Chrysler Pacifica 2017-18"),
specs=PACIFICA_2017_HYBRID.specs,
PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2020 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2020",
@ -58,35 +58,35 @@ class CAR(Platforms):
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
],
specs=PACIFICA_2017_HYBRID.specs,
PACIFICA_2017_HYBRID.specs,
)
# Dodge
DODGE_DURANGO = ChryslerPlatformConfig(
"DODGE DURANGO 2021",
ChryslerCarInfo("Dodge Durango 2020-21"),
specs=PACIFICA_2017_HYBRID.specs,
PACIFICA_2017_HYBRID.specs,
)
# Jeep
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
"JEEP GRAND CHEROKEE V6 2018",
ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
)
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
"JEEP GRAND CHEROKEE 2019",
ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
specs=JEEP_GRAND_CHEROKEE.specs,
JEEP_GRAND_CHEROKEE.specs,
)
# Ram
RAM_1500 = ChryslerPlatformConfig(
"RAM 1500 5TH GEN",
ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
dbc_dict('chrysler_ram_dt_generated', None),
specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
)
RAM_HD = ChryslerPlatformConfig(
"RAM HD 5TH GEN",
@ -94,8 +94,8 @@ class CAR(Platforms):
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
],
ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
dbc_dict('chrysler_ram_hd_generated', None),
specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
)

16
selfdrive/car/ford/values.py
Unescape View File

@ -87,7 +87,7 @@ class CAR(Platforms):
BRONCO_SPORT_MK1 = FordPlatformConfig(
"FORD BRONCO SPORT 1ST GEN",
FordCarInfo("Ford Bronco Sport 2021-22"),
specs=CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
)
ESCAPE_MK4 = FordPlatformConfig(
"FORD ESCAPE 4TH GEN",
@ -99,7 +99,7 @@ class CAR(Platforms):
FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
],
specs=CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
)
EXPLORER_MK6 = FordPlatformConfig(
"FORD EXPLORER 6TH GEN",
@ -109,7 +109,7 @@ class CAR(Platforms):
FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
],
specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
)
F_150_MK14 = FordCANFDPlatformConfig(
"FORD F-150 14TH GEN",
@ -117,12 +117,12 @@ class CAR(Platforms):
FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
],
specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
)
F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
"FORD F-150 LIGHTNING 1ST GEN",
FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
)
FOCUS_MK4 = FordPlatformConfig(
"FORD FOCUS 4TH GEN",
@ -130,7 +130,7 @@ class CAR(Platforms):
FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
],
specs=CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
)
MAVERICK_MK1 = FordPlatformConfig(
"FORD MAVERICK 1ST GEN",
@ -140,12 +140,12 @@ class CAR(Platforms):
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
],
specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
)
MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
"FORD MUSTANG MACH-E 1ST GEN",
FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
)

28
selfdrive/car/gm/values.py
Unescape View File

@ -88,52 +88,52 @@ class CAR(Platforms):
HOLDEN_ASTRA = GMPlatformConfig(
"HOLDEN ASTRA RS-V BK 2017",
GMCarInfo("Holden Astra 2017"),
specs=CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
)
VOLT = GMPlatformConfig(
"CHEVROLET VOLT PREMIER 2017",
GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
specs=CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45),
CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45),
)
CADILLAC_ATS = GMPlatformConfig(
"CADILLAC ATS Premium Performance 2018",
GMCarInfo("Cadillac ATS Premium Performance 2018"),
specs=CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
)
MALIBU = GMPlatformConfig(
"CHEVROLET MALIBU PREMIER 2017",
GMCarInfo("Chevrolet Malibu Premier 2017"),
specs=CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
ACADIA = GMPlatformConfig(
"GMC ACADIA DENALI 2018",
GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
specs=CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
)
BUICK_LACROSSE = GMPlatformConfig(
"BUICK LACROSSE 2017",
GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
specs=CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
)
BUICK_REGAL = GMPlatformConfig(
"BUICK REGAL ESSENCE 2018",
GMCarInfo("Buick Regal Essence 2018"),
specs=CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
)
ESCALADE = GMPlatformConfig(
"CADILLAC ESCALADE 2017",
GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
specs=CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
)
ESCALADE_ESV = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2016",
GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
specs=CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3),
CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3),
)
ESCALADE_ESV_2019 = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2019",
GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
specs=ESCALADE_ESV.specs,
ESCALADE_ESV.specs,
)
BOLT_EUV = GMPlatformConfig(
"CHEVROLET BOLT EUV 2022",
@ -141,7 +141,7 @@ class CAR(Platforms):
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
specs=CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4),
CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4),
)
SILVERADO = GMPlatformConfig(
"CHEVROLET SILVERADO 1500 2020",
@ -149,17 +149,17 @@ class CAR(Platforms):
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
specs=CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3),
CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3),
)
EQUINOX = GMPlatformConfig(
"CHEVROLET EQUINOX 2019",
GMCarInfo("Chevrolet Equinox 2019-22"),
specs=CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
)
TRAILBLAZER = GMPlatformConfig(
"CHEVROLET TRAILBLAZER 2021",
GMCarInfo("Chevrolet Trailblazer 2021-22"),
specs=CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4),
CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4),
)

44
selfdrive/car/honda/values.py
Unescape View File

@ -116,8 +116,8 @@ class CAR(Platforms):
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end
dbc_dict('honda_accord_2018_can_generated', None),
specs=CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end
flags=HondaFlags.BOSCH,
)
CIVIC_BOSCH = HondaPlatformConfig(
@ -127,15 +127,15 @@ class CAR(Platforms):
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
specs=CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
flags=HondaFlags.BOSCH
)
CIVIC_BOSCH_DIESEL = HondaPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs
CIVIC_BOSCH.specs,
dbc_dict('honda_accord_2018_can_generated', None),
specs=CIVIC_BOSCH.specs,
flags=HondaFlags.BOSCH
)
CIVIC_2022 = HondaPlatformConfig(
@ -144,50 +144,50 @@ class CAR(Platforms):
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CIVIC_BOSCH.specs,
dbc_dict('honda_civic_ex_2022_can_generated', None),
specs=CIVIC_BOSCH.specs,
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS,
)
CRV_5G = HondaPlatformConfig(
"HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
specs=CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end
flags=HondaFlags.BOSCH,
)
CRV_HYBRID = HondaPlatformConfig(
"HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
dbc_dict('honda_accord_2018_can_generated', None),
specs=CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
flags=HondaFlags.BOSCH
)
HRV_3G = HondaPlatformConfig(
"HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"),
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
dbc_dict('honda_civic_ex_2022_can_generated', None),
specs=CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS
)
ACURA_RDX_3G = HondaPlatformConfig(
"ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec
dbc_dict('acura_rdx_2020_can_generated', None),
specs=CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec
flags=HondaFlags.BOSCH
)
INSIGHT = HondaPlatformConfig(
"HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec
dbc_dict('honda_insight_ex_2019_can_generated', None),
specs=CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec
flags=HondaFlags.BOSCH
)
HONDA_E = HondaPlatformConfig(
"HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71),
dbc_dict('acura_rdx_2020_can_generated', None),
specs=CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71),
flags=HondaFlags.BOSCH
)
@ -195,64 +195,64 @@ class CAR(Platforms):
ACURA_ILX = HondaPlatformConfig(
"ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV = HondaPlatformConfig(
"HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV_EU = HondaPlatformConfig(
"HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs
CRV.specs,
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CRV.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FIT = HondaPlatformConfig(
"HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FREED = HondaPlatformConfig(
"HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HRV = HondaPlatformConfig(
"HONDA HRV 2019",
HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
HRV_3G.specs,
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=HRV_3G.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ODYSSEY = HondaPlatformConfig(
"HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"),
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL
)
ODYSSEY_CHN = HondaPlatformConfig(
"HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs
ODYSSEY.specs,
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
specs=ODYSSEY.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES
)
ACURA_RDX = HondaPlatformConfig(
"ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
PILOT = HondaPlatformConfig(
@ -261,22 +261,22 @@ class CAR(Platforms):
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
RIDGELINE = HondaPlatformConfig(
"HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CIVIC = HondaPlatformConfig(
"HONDA CIVIC 2016",
HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE,
)

130
selfdrive/car/hyundai/values.py
Unescape View File

@ -138,7 +138,7 @@ class CAR(Platforms):
AZERA_6TH_GEN = HyundaiPlatformConfig(
"HYUNDAI AZERA 6TH GEN",
HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
specs=CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
)
AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
"HYUNDAI AZERA HYBRID 6TH GEN",
@ -146,7 +146,7 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
specs=CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
flags=HyundaiFlags.HYBRID
)
ELANTRA = HyundaiPlatformConfig(
@ -157,7 +157,7 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
],
# steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
specs=CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH
)
ELANTRA_GT_I30 = HyundaiPlatformConfig(
@ -166,20 +166,20 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
specs=ELANTRA.specs,
ELANTRA.specs,
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH
)
ELANTRA_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA 2021",
HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
specs=CarSpecs(mass=2800*CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
CarSpecs(mass=2800*CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CHECKSUM_CRC8
)
ELANTRA_HEV_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA HYBRID 2021",
HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
car_parts=CarParts.common([CarHarness.hyundai_k])),
specs=CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
HYUNDAI_GENESIS = HyundaiPlatformConfig(
@ -189,120 +189,120 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
],
specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY
)
IONIQ = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2017-2019",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
)
IONIQ_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2020-2022",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness,
specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
)
IONIQ_EV_LTD = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC LIMITED 2019",
HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH
)
IONIQ_EV_2020 = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC 2020",
HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV
)
IONIQ_PHEV_2019 = HyundaiPlatformConfig(
"HYUNDAI IONIQ PLUG-IN HYBRID 2019",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH
)
IONIQ_PHEV = HyundaiPlatformConfig(
"HYUNDAI IONIQ PHEV 2020",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID
)
KONA = HyundaiPlatformConfig(
"HYUNDAI KONA 2020",
HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
specs=CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CLUSTER_GEARS
)
KONA_EV = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2019",
HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
specs=CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV
)
KONA_EV_2022 = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2022",
HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
specs=CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV
)
KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI KONA ELECTRIC 2ND GEN",
HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r])),
specs=CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
)
KONA_HEV = HyundaiPlatformConfig(
"HYUNDAI KONA HYBRID 2020",
HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages,
specs=CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID
)
SANTA_FE = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2019",
HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
car_parts=CarParts.common([CarHarness.hyundai_d])),
specs=CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
SANTA_FE_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2022",
HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l])),
specs=SANTA_FE.specs,
SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8
)
SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
specs=SANTA_FE.specs,
SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
specs=SANTA_FE.specs,
SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
SONATA = HyundaiPlatformConfig(
"HYUNDAI SONATA 2020",
HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a])),
specs=CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
SONATA_LF = HyundaiPlatformConfig(
"HYUNDAI SONATA 2019",
HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
specs=CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
)
STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI STARIA 4TH GEN",
HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
specs=CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
)
TUCSON = HyundaiPlatformConfig(
"HYUNDAI TUCSON 2019",
@ -310,7 +310,7 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
specs=CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
flags=HyundaiFlags.TCU_GEARS
)
PALISADE = HyundaiPlatformConfig(
@ -319,19 +319,19 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
specs=CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
VELOSTER = HyundaiPlatformConfig(
"HYUNDAI VELOSTER 2019",
HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
specs=CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor = 0.5),
CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor = 0.5),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS
)
SONATA_HYBRID = HyundaiPlatformConfig(
"HYUNDAI SONATA HYBRID 2021",
HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
specs=SONATA.specs,
SONATA.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
IONIQ_5 = HyundaiCanFDPlatformConfig(
@ -341,13 +341,13 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
specs=CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV
)
IONIQ_6 = HyundaiCanFDPlatformConfig(
"HYUNDAI IONIQ 6 2023",
HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
specs=IONIQ_5.specs,
IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
)
TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
@ -357,18 +357,18 @@ class CAR(Platforms):
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
specs=CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385),
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385),
)
SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI SANTA CRUZ 1ST GEN",
HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
specs=CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
)
CUSTIN_1ST_GEN = HyundaiPlatformConfig(
"HYUNDAI CUSTIN 1ST GEN",
HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
specs=CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
flags=HyundaiFlags.CHECKSUM_CRC8
)
@ -379,25 +379,25 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
specs=CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
)
KIA_K5_2021 = HyundaiPlatformConfig(
"KIA K5 2021",
HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
specs=CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
flags=HyundaiFlags.CHECKSUM_CRC8
)
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
"KIA K5 HYBRID 2020",
HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
specs=KIA_K5_2021.specs,
KIA_K5_2021.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
"KIA K8 HYBRID 1ST GEN",
HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
# mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
specs=CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
)
KIA_NIRO_EV = HyundaiPlatformConfig(
"KIA NIRO EV 2020",
@ -407,13 +407,13 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
specs=CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars
CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV
)
KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO EV 2ND GEN",
HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
specs=KIA_NIRO_EV.specs,
KIA_NIRO_EV.specs,
flags=HyundaiFlags.EV
)
KIA_NIRO_PHEV = HyundaiPlatformConfig(
@ -422,7 +422,7 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
],
specs=KIA_NIRO_EV.specs,
KIA_NIRO_EV.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH
)
KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
@ -431,7 +431,7 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
specs=KIA_NIRO_EV.specs,
KIA_NIRO_EV.specs,
flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR
)
KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
@ -440,44 +440,44 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
specs=KIA_NIRO_EV.specs,
KIA_NIRO_EV.specs,
flags=HyundaiFlags.HYBRID
)
KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO HYBRID 2ND GEN",
HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
specs=KIA_NIRO_EV.specs,
KIA_NIRO_EV.specs,
)
KIA_OPTIMA_G4 = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN",
HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH
)
KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
)
# TODO: may support adjacent years. may have a non-zero minimum steering speed
KIA_OPTIMA_H = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 2017 & SPORTS 2019",
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
)
KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_SELTOS = HyundaiPlatformConfig(
"KIA SELTOS 2021",
HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
specs=CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
flags=HyundaiFlags.CHECKSUM_CRC8
)
KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
@ -487,7 +487,7 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
# weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
specs=CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
)
KIA_SORENTO = HyundaiPlatformConfig(
"KIA SORENTO GT LINE 2018",
@ -496,13 +496,13 @@ class CAR(Platforms):
car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
specs=CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable
CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SORENTO 4TH GEN",
HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
specs=CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
flags=HyundaiFlags.RADAR_SCC
)
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
@ -511,24 +511,24 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
specs=CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
flags=HyundaiFlags.RADAR_SCC
)
KIA_STINGER = HyundaiPlatformConfig(
"KIA STINGER GT2 2018",
HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c])),
specs=CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable
CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable
)
KIA_STINGER_2022 = HyundaiPlatformConfig(
"KIA STINGER 2022",
HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
specs=KIA_STINGER.specs,
KIA_STINGER.specs,
)
KIA_CEED = HyundaiPlatformConfig(
"KIA CEED INTRO ED 2019",
HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
specs=CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY
)
KIA_EV6 = HyundaiCanFDPlatformConfig(
@ -538,7 +538,7 @@ class CAR(Platforms):
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
specs=CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV
)
KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
@ -547,7 +547,7 @@ class CAR(Platforms):
HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
specs=CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
flags=HyundaiFlags.RADAR_SCC
)
@ -558,19 +558,19 @@ class CAR(Platforms):
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
specs=CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
flags=HyundaiFlags.EV
)
GENESIS_G70 = HyundaiPlatformConfig(
"GENESIS G70 2018",
HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
specs=CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
flags=HyundaiFlags.LEGACY
)
GENESIS_G70_2020 = HyundaiPlatformConfig(
"GENESIS G70 2020",
HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
specs=CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
flags=HyundaiFlags.MANDO_RADAR
)
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
@ -579,24 +579,24 @@ class CAR(Platforms):
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
specs=CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
flags=HyundaiFlags.RADAR_SCC
)
GENESIS_G80 = HyundaiPlatformConfig(
"GENESIS G80 2017",
HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
flags=HyundaiFlags.LEGACY
)
GENESIS_G90 = HyundaiPlatformConfig(
"GENESIS G90 2017",
HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
specs=CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
)
GENESIS_GV80 = HyundaiCanFDPlatformConfig(
"GENESIS GV80 2023",
HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
specs=CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
flags=HyundaiFlags.RADAR_SCC
)

18
selfdrive/car/interfaces.py
Unescape View File

@ -112,16 +112,14 @@ class CarInterfaceBase(ABC):
def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
ret = CarInterfaceBase.get_std_params(candidate)
if hasattr(candidate, "config"):
if candidate.config.specs is not None:
ret.mass = candidate.config.specs.mass
ret.wheelbase = candidate.config.specs.wheelbase
ret.steerRatio = candidate.config.specs.steerRatio
ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor
ret.flags |= int(candidate.config.flags)
ret.mass = candidate.config.specs.mass
ret.wheelbase = candidate.config.specs.wheelbase
ret.steerRatio = candidate.config.specs.steerRatio
ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor
ret.flags |= int(candidate.config.flags)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)

12
selfdrive/car/mazda/values.py
Unescape View File

@ -48,32 +48,32 @@ class CAR(Platforms):
CX5 = MazdaPlatformConfig(
"MAZDA CX-5",
MazdaCarInfo("Mazda CX-5 2017-21"),
specs=CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
)
CX9 = MazdaPlatformConfig(
"MAZDA CX-9",
MazdaCarInfo("Mazda CX-9 2016-20"),
specs=CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
)
MAZDA3 = MazdaPlatformConfig(
"MAZDA 3",
MazdaCarInfo("Mazda 3 2017-18"),
specs=CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
)
MAZDA6 = MazdaPlatformConfig(
"MAZDA 6",
MazdaCarInfo("Mazda 6 2017-20"),
specs=CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
)
CX9_2021 = MazdaPlatformConfig(
"MAZDA CX-9 2021",
MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
specs=CX9.specs
CX9.specs
)
CX5_2022 = MazdaPlatformConfig(
"MAZDA CX-5 2022",
MazdaCarInfo("Mazda CX-5 2022-24"),
specs=CX5.specs,
CX5.specs,
)

16
selfdrive/car/mock/values.py
Unescape View File

@ -1,12 +1,14 @@
from enum import StrEnum
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarInfo
class CAR(StrEnum):
MOCK = 'mock'
class CAR(Platforms):
MOCK = PlatformConfig(
'mock',
None,
CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
{}
)
CAR_INFO: dict[str, CarInfo | list[CarInfo] | None] = {
CAR.MOCK: None,
}
CAR_INFO = CAR.create_carinfo_map()

10
selfdrive/car/nissan/values.py
Unescape View File

@ -40,13 +40,13 @@ class CAR(Platforms):
XTRAIL = NissanPlaformConfig(
"NISSAN X-TRAIL 2017",
NissanCarInfo("Nissan X-Trail 2017"),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
NissanCarSpecs(mass=1610, wheelbase=2.705)
)
LEAF = NissanPlaformConfig(
"NISSAN LEAF 2018",
NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
dbc_dict=dbc_dict('nissan_leaf_2018_generated', None),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
NissanCarSpecs(mass=1610, wheelbase=2.705),
dbc_dict('nissan_leaf_2018_generated', None),
)
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal.
@ -54,12 +54,12 @@ class CAR(Platforms):
ROGUE = NissanPlaformConfig(
"NISSAN ROGUE 2019",
NissanCarInfo("Nissan Rogue 2018-20"),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
NissanCarSpecs(mass=1610, wheelbase=2.705)
)
ALTIMA = NissanPlaformConfig(
"NISSAN ALTIMA 2020",
NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
specs=NissanCarSpecs(mass=1492, wheelbase=2.824)
NissanCarSpecs(mass=1492, wheelbase=2.824)
)

30
selfdrive/car/subaru/values.py
Unescape View File

@ -123,17 +123,17 @@ class CAR(Platforms):
ASCENT = SubaruPlatformConfig(
"SUBARU ASCENT LIMITED 2019",
SubaruCarInfo("Subaru Ascent 2019-21", "All"),
specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
)
OUTBACK = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 6TH GEN",
SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
)
LEGACY = SubaruGen2PlatformConfig(
"SUBARU LEGACY 7TH GEN",
SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=OUTBACK.specs,
OUTBACK.specs,
)
IMPREZA = SubaruPlatformConfig(
"SUBARU IMPREZA LIMITED 2019",
@ -142,7 +142,7 @@ class CAR(Platforms):
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
],
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
)
IMPREZA_2020 = SubaruPlatformConfig(
"SUBARU IMPREZA SPORT 2020",
@ -151,74 +151,74 @@ class CAR(Platforms):
SubaruCarInfo("Subaru Crosstrek 2020-23"),
SubaruCarInfo("Subaru XV 2020-21"),
],
specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.STEER_RATE_LIMITED,
)
# TODO: is there an XV and Impreza too?
CROSSTREK_HYBRID = SubaruPlatformConfig(
"SUBARU CROSSTREK HYBRID 2020",
SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.HYBRID,
)
FORESTER = SubaruPlatformConfig(
"SUBARU FORESTER 2019",
SubaruCarInfo("Subaru Forester 2019-21", "All"),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.STEER_RATE_LIMITED,
)
FORESTER_HYBRID = SubaruPlatformConfig(
"SUBARU FORESTER HYBRID 2020",
SubaruCarInfo("Subaru Forester Hybrid 2020"),
specs=FORESTER.specs,
FORESTER.specs,
flags=SubaruFlags.HYBRID,
)
# Pre-global
FORESTER_PREGLOBAL = SubaruPlatformConfig(
"SUBARU FORESTER 2017 - 2018",
SubaruCarInfo("Subaru Forester 2017-18"),
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
dbc_dict('subaru_forester_2017_generated', None),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
flags=SubaruFlags.PREGLOBAL,
)
LEGACY_PREGLOBAL = SubaruPlatformConfig(
"SUBARU LEGACY 2015 - 2018",
SubaruCarInfo("Subaru Legacy 2015-18"),
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
dbc_dict('subaru_outback_2015_generated', None),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
flags=SubaruFlags.PREGLOBAL,
)
OUTBACK_PREGLOBAL = SubaruPlatformConfig(
"SUBARU OUTBACK 2015 - 2017",
SubaruCarInfo("Subaru Outback 2015-17"),
FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2015_generated', None),
specs=FORESTER_PREGLOBAL.specs,
flags=SubaruFlags.PREGLOBAL,
)
OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
"SUBARU OUTBACK 2018 - 2019",
SubaruCarInfo("Subaru Outback 2018-19"),
FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2019_generated', None),
specs=FORESTER_PREGLOBAL.specs,
flags=SubaruFlags.PREGLOBAL,
)
# Angle LKAS
FORESTER_2022 = SubaruPlatformConfig(
"SUBARU FORESTER 2022",
SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
specs=FORESTER.specs,
FORESTER.specs,
flags=SubaruFlags.LKAS_ANGLE,
)
OUTBACK_2023 = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 7TH GEN",
SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=OUTBACK.specs,
OUTBACK.specs,
flags=SubaruFlags.LKAS_ANGLE,
)
ASCENT_2023 = SubaruGen2PlatformConfig(
"SUBARU ASCENT 2023",
SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=ASCENT.specs,
ASCENT.specs,
flags=SubaruFlags.LKAS_ANGLE,
)

4
selfdrive/car/tesla/values.py
Unescape View File

@ -20,12 +20,12 @@ class CAR(Platforms):
AP1_MODELS = TeslaPlatformConfig(
'TESLA AP1 MODEL S',
CarInfo("Tesla AP1 Model S", "All"),
specs=CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
)
AP2_MODELS = TeslaPlatformConfig(
'TESLA AP2 MODEL S',
CarInfo("Tesla AP2 Model S", "All"),
specs=AP1_MODELS.specs
AP1_MODELS.specs
)

10
selfdrive/car/tests/test_platform_configs.py
Unescape View File

@ -10,13 +10,11 @@ class TestPlatformConfigs(unittest.TestCase):
for platform in PLATFORMS.values():
with self.subTest(platform=str(platform)):
if hasattr(platform, "config"):
self.assertTrue(platform.config._frozen)
self.assertIn("pt", platform.config.dbc_dict)
self.assertTrue(len(platform.config.platform_str) > 0)
self.assertTrue(platform.config._frozen)
self.assertIn("pt", platform.config.dbc_dict)
self.assertTrue(len(platform.config.platform_str) > 0)
self.assertIsNotNone(platform.config.specs)
self.assertIsNotNone(platform.config.specs)
if __name__ == "__main__":

68
selfdrive/car/toyota/values.py
Unescape View File

@ -88,7 +88,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Alphard 2019-20"),
ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
],
specs=CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
)
AVALON = PlatformConfig(
"TOYOTA AVALON 2016",
@ -96,8 +96,8 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota Avalon 2017-18"),
],
CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
)
AVALON_2019 = PlatformConfig(
"TOYOTA AVALON 2019",
@ -105,8 +105,8 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Avalon 2019-21"),
ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
],
AVALON.specs,
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=AVALON.specs,
)
AVALON_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA AVALON 2022", # TSS 2.5
@ -114,7 +114,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Avalon 2022"),
ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
],
specs=AVALON.specs,
AVALON.specs,
)
CAMRY = PlatformConfig(
"TOYOTA CAMRY 2018",
@ -122,9 +122,9 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
],
CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_DSU,
specs=CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
)
CAMRY_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA CAMRY 2021", # TSS 2.5
@ -132,7 +132,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
],
specs=CAMRY.specs,
CAMRY.specs,
)
CHR = PlatformConfig(
"TOYOTA C-HR 2018",
@ -140,9 +140,9 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR 2017-20"),
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
],
CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_DSU,
specs=CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
)
CHR_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA C-HR 2021",
@ -150,14 +150,14 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
],
CHR.specs,
flags=ToyotaFlags.RADAR_ACC,
specs=CHR.specs,
)
COROLLA = PlatformConfig(
"TOYOTA COROLLA 2017",
ToyotaCarInfo("Toyota Corolla 2017-19"),
CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
)
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
@ -172,7 +172,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
],
specs=CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
)
HIGHLANDER = PlatformConfig(
"TOYOTA HIGHLANDER 2017",
@ -180,9 +180,9 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
],
CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
)
HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA HIGHLANDER 2020",
@ -190,7 +190,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Highlander 2020-23"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
],
specs=HIGHLANDER.specs,
HIGHLANDER.specs,
)
PRIUS = PlatformConfig(
"TOYOTA PRIUS 2017",
@ -199,15 +199,15 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
],
CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
)
PRIUS_V = PlatformConfig(
"TOYOTA PRIUS v 2017",
ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
)
PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA PRIUS TSS2 2021",
@ -215,7 +215,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
specs=CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
)
RAV4 = PlatformConfig(
"TOYOTA RAV4 2017",
@ -223,8 +223,8 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota RAV4 2017-18")
],
CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
)
RAV4H = PlatformConfig(
"TOYOTA RAV4 HYBRID 2017",
@ -232,9 +232,9 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
],
RAV4.specs,
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=RAV4.specs,
)
RAV4_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2019",
@ -242,7 +242,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
],
specs=CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
)
RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2022",
@ -250,8 +250,8 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2022"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
RAV4_TSS2.specs,
flags=ToyotaFlags.RADAR_ACC,
specs=RAV4_TSS2.specs,
)
RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2023",
@ -259,28 +259,28 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2023-24"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
],
RAV4_TSS2.specs,
flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
specs=RAV4_TSS2.specs,
)
MIRAI = ToyotaTSS2PlatformConfig(
"TOYOTA MIRAI 2021", # TSS 2.5
ToyotaCarInfo("Toyota Mirai 2021"),
specs=CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
)
SIENNA = PlatformConfig(
"TOYOTA SIENNA 2018",
ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
)
# Lexus
LEXUS_CTH = PlatformConfig(
"LEXUS CT HYBRID 2018",
ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
)
LEXUS_ES = PlatformConfig(
"LEXUS ES 2018",
@ -288,8 +288,8 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus ES 2017-18"),
ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
],
CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
)
LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS ES 2019",
@ -297,19 +297,19 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus ES 2019-24"),
ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
],
specs=LEXUS_ES.specs,
LEXUS_ES.specs,
)
LEXUS_IS = PlatformConfig(
"LEXUS IS 2018",
ToyotaCarInfo("Lexus IS 2017-19"),
CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
)
LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS IS 2023",
ToyotaCarInfo("Lexus IS 2022-23"),
specs=LEXUS_IS.specs,
LEXUS_IS.specs,
)
LEXUS_NX = PlatformConfig(
"LEXUS NX 2018",
@ -317,8 +317,8 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus NX 2018-19"),
ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
],
CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
)
LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS NX 2020",
@ -326,19 +326,19 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus NX 2020-21"),
ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
],
specs=LEXUS_NX.specs,
LEXUS_NX.specs,
)
LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS LC 2024",
ToyotaCarInfo("Lexus LC 2024"),
specs=CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
)
LEXUS_RC = PlatformConfig(
"LEXUS RC 2020",
ToyotaCarInfo("Lexus RC 2018-20"),
LEXUS_IS.specs,
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=LEXUS_IS.specs,
)
LEXUS_RX = PlatformConfig(
"LEXUS RX 2016",
@ -349,8 +349,8 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
],
CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
)
LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS RX 2020",
@ -358,14 +358,14 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX 2020-22"),
ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
],
specs=LEXUS_RX.specs,
LEXUS_RX.specs,
)
LEXUS_GS_F = PlatformConfig(
"LEXUS GS F 2016",
ToyotaCarInfo("Lexus GS F 2016"),
CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
)

56
selfdrive/car/volkswagen/values.py
Unescape View File

@ -184,7 +184,7 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
],
specs=VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
)
ATLAS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN ATLAS 1ST GEN", # Chassis CA
@ -195,7 +195,7 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
VWCarInfo("Volkswagen Teramont X 2021-22"),
],
specs=VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
)
CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN CRAFTER 2ND GEN", # Chassis SY/SZ
@ -206,7 +206,7 @@ class CAR(Platforms):
VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
],
specs=VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
)
GOLF_MK7 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN GOLF 7TH GEN", # Chassis 5G/AU/BA/BE
@ -220,7 +220,7 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Golf R 2015-19"),
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
],
specs=VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
)
JETTA_MK7 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN JETTA 7TH GEN", # Chassis BU
@ -228,7 +228,7 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Jetta 2018-24"),
VWCarInfo("Volkswagen Jetta GLI 2021-24"),
],
specs=VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
)
PASSAT_MK8 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN PASSAT 8TH GEN", # Chassis 3G
@ -237,12 +237,12 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
VWCarInfo("Volkswagen Passat GTE 2015-22"),
],
specs=VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
)
PASSAT_NMS = VolkswagenPQPlatformConfig(
"VOLKSWAGEN PASSAT NMS", # Chassis A3
VWCarInfo("Volkswagen Passat NMS 2017-22"),
specs=VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
)
POLO_MK6 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN POLO 6TH GEN", # Chassis AW
@ -250,7 +250,7 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
],
specs=VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
)
SHARAN_MK2 = VolkswagenPQPlatformConfig(
"VOLKSWAGEN SHARAN 2ND GEN", # Chassis 7N
@ -258,17 +258,17 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Sharan 2018-22"),
VWCarInfo("SEAT Alhambra 2018-20"),
],
specs=VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
)
TAOS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TAOS 1ST GEN", # Chassis B2
VWCarInfo("Volkswagen Taos 2022-23"),
specs=VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
)
TCROSS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1
car_info=VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
)
TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TIGUAN 2ND GEN", # Chassis AD/BW
@ -276,12 +276,12 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Tiguan 2018-24"),
VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
],
specs=VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
)
TOURAN_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T
VWCarInfo("Volkswagen Touran 2016-23"),
specs=VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
)
TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TRANSPORTER T6.1", # Chassis 7H/7L
@ -289,12 +289,12 @@ class CAR(Platforms):
VWCarInfo("Volkswagen Caravelle 2020"),
VWCarInfo("Volkswagen California 2021-23"),
],
specs=VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
)
TROC_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1
VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
)
AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
"AUDI A3 3RD GEN", # Chassis 8V/FF
@ -304,47 +304,47 @@ class CAR(Platforms):
VWCarInfo("Audi RS3 2018"),
VWCarInfo("Audi S3 2015-17"),
],
specs=VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
)
AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
"AUDI Q2 1ST GEN", # Chassis GA
VWCarInfo("Audi Q2 2018"),
specs=VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
)
AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
"AUDI Q3 2ND GEN", # Chassis 8U/F3/FS
VWCarInfo("Audi Q3 2019-23"),
specs=VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
)
SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
"SEAT ATECA 1ST GEN", # Chassis 5F
VWCarInfo("SEAT Ateca 2018"),
specs=VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
)
SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig(
"SEAT LEON 3RD GEN", # Chassis 5F
VWCarInfo("SEAT Leon 2014-20"),
specs=VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
)
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
"SKODA FABIA 4TH GEN", # Chassis PJ
VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
)
SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAMIQ 1ST GEN", # Chassis NW
VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
specs=VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
)
SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAROQ 1ST GEN", # Chassis NU
VWCarInfo("Škoda Karoq 2019-23"),
specs=VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
)
SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KODIAQ 1ST GEN", # Chassis NS
VWCarInfo("Škoda Kodiaq 2017-23"),
specs=VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
)
SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
"SKODA OCTAVIA 3RD GEN", # Chassis NE
@ -352,17 +352,17 @@ class CAR(Platforms):
VWCarInfo("Škoda Octavia 2015-19"),
VWCarInfo("Škoda Octavia RS 2016"),
],
specs=VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
)
SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig(
"SKODA SCALA 1ST GEN", # Chassis NW
VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
)
SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
"SKODA SUPERB 3RD GEN", # Chassis 3V/NP
VWCarInfo("Škoda Superb 2015-22"),
specs=VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
)

5
selfdrive/controls/tests/test_state_machine.py
Unescape View File

@ -7,6 +7,7 @@ from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
AudibleAlert, EVENTS
from openpilot.selfdrive.car.mock.values import CAR as MOCK
State = log.ControlsState.OpenpilotState
@ -30,8 +31,8 @@ def make_event(event_types):
class TestStateMachine(unittest.TestCase):
def setUp(self):
CarInterface, CarController, CarState = interfaces["mock"]
CP = CarInterface.get_non_essential_params("mock")
CarInterface, CarController, CarState = interfaces[MOCK.MOCK]
CP = CarInterface.get_non_essential_params(MOCK.MOCK)
CI = CarInterface(CP, CarController, CarState)
self.controlsd = Controls(CI=CI)

Write Preview
Loading…
Cancel
Save