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Toyota: add hysteresis to cluster speed (#26386)

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* add hysteresis to cluster speed

* add minimum cluster scaling

* fix

* Update ref_commit
old-commit-hash: 52a644e656
taco
Shane Smiskol 3 years ago committed by GitHub
parent 62990e317e
commit f9c9b96e27
2 changed files with 3 additions and 1 deletions
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  1. 2
      selfdrive/car/toyota/carstate.py
  2. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/car/toyota/carstate.py
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@ -15,6 +15,8 @@ class CarState(CarStateBase):
can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"] self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100. self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100.
self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
self.cluster_min_speed = CV.KPH_TO_MS / 2.
# On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
# the signal is zeroed to where the steering angle is at start. # the signal is zeroed to where the steering angle is at start.

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
cf8700aa252d55d4d5b9f5bec136e34151c2de61 caa8fb2a046a6c2c186e66af339212a5fae6b7a4

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