From f40e75edf83e3e0e224583cd9b6cf865c1cb4a2d Mon Sep 17 00:00:00 2001 From: Ross Fisher Date: Tue, 6 Jul 2021 13:48:04 -0400 Subject: [PATCH] Rav4 TSS2 has two different steering racks (#21429) Split tuning on eps fwVersion \x02 only. See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for findings. Unify Rav4 & Rav4 Hybrid Average mass between ICE & Hybrid Co-Authored-By: Willem Melching Co-authored-by: Willem Melching --- selfdrive/car/toyota/interface.py | 32 +++++++++---------------------- 1 file changed, 9 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 073b0fc356..48bc448bdc 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -168,36 +168,22 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] ret.lateralTuning.pid.kf = 0.00006 - elif candidate == CAR.RAV4_TSS2: + elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]] - ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kf = 0.00004 - - for fw in car_fw: - if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00": - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00007818594 - break - - elif candidate == CAR.RAV4H_TSS2: - stop_and_go = True - ret.safetyParam = 73 - ret.wheelbase = 2.68986 - ret.steerRatio = 14.3 - tire_stiffness_factor = 0.7933 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]] - ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kf = 0.00004 + ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] + ret.lateralTuning.pid.kf = 0.00007818594 + # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary. + # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: - if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00": - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00007818594 + if fw.ecu == "eps" and fw.fwVersion.startswith(b'\x02'): + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]] + ret.lateralTuning.pid.kf = 0.00004 break elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: