Chrysler: interface cleanup (#24884)

* Chrysler: interface cleanup

* little more
old-commit-hash: 88a80983a4

selfdrive/car/chrysler/interface.py

@@ -12,28 +12,38 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "chrysler"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
 
-    # Speed conversion:              20, 45 mph
-    ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
-    ret.steerRatio = 16.2  # Pacifica Hybrid 2017
-    ret.mass = 2242. + STD_CARGO_KG  # kg curb weight Pacifica Hybrid 2017
-    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   # full torque for 10 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 
-    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
-      ret.wheelbase = 2.91  # in meters
-      ret.steerRatio = 12.7
-      ret.steerActuatorDelay = 0.2  # in seconds
-
-    ret.centerToFront = ret.wheelbase * 0.44
-
     ret.minSteerSpeed = 3.8  # m/s
     if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      # TODO allow 2019 cars to steer down to 13 m/s if already engaged.
+      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
       ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
+    # Chrysler
+    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
+      ret.mass = 2242. + STD_CARGO_KG
+      ret.wheelbase = 3.089
+      ret.steerRatio = 16.2  # Pacifica Hybrid 2017
+      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):
+      ret.mass = 1778 + STD_CARGO_KG
+      ret.wheelbase = 2.71
+      ret.steerRatio = 16.7
+      ret.steerActuatorDelay = 0.2
+      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
+
+    else:
+      raise ValueError(f"Unsupported car: {candidate}")
+
+    ret.centerToFront = ret.wheelbase * 0.44
+
     # starting with reasonable value for civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
@@ -45,7 +55,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
@@ -54,14 +63,17 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
-    if ret.vEgo < self.CP.minSteerSpeed:
+    # Low speed steer alert hysteresis logic
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+      self.low_speed_alert = True
+    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+      self.low_speed_alert = False
+    if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
 
     return ret
 
-  # pass in a car.CarControl
-  # to be called @ 100hz
   def apply(self, c):
     return self.CC.update(c, self.CS)

selfdrive/car/chrysler/values.py

@@ -16,11 +16,14 @@ class CarControllerParams:
 
 
 class CAR:
+  # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
   PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # includes 2017 Pacifica
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
+
+  # Jeep
   JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
   JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk