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116 lines
4.3 KiB
116 lines
4.3 KiB
#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from selfdrive.car import STD_CARGO_KG, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
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ret.carName = "subaru"
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ret.radarUnavailable = True
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ret.dashcamOnly = candidate in PREGLOBAL_CARS
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ret.autoResumeSng = False
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if candidate in PREGLOBAL_CARS:
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ret.enableBsm = 0x25c in fingerprint[0]
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
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else:
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ret.enableBsm = 0x228 in fingerprint[0]
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
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if candidate in GLOBAL_GEN2:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
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ret.steerLimitTimer = 0.4
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ret.steerActuatorDelay = 0.1
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate == CAR.ASCENT:
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ret.mass = 2031. + STD_CARGO_KG
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ret.wheelbase = 2.89
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 13.5
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ret.steerActuatorDelay = 0.3 # end-to-end angle controller
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.00003
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
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elif candidate == CAR.IMPREZA:
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ret.mass = 1568. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 15
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ret.steerActuatorDelay = 0.4 # end-to-end angle controller
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
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elif candidate == CAR.IMPREZA_2020:
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ret.mass = 1480. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17 # learned, 14 stock
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
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elif candidate == CAR.FORESTER:
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ret.mass = 1568. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17 # learned, 14 stock
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kf = 0.000038
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
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elif candidate in (CAR.OUTBACK, CAR.LEGACY):
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ret.mass = 1568. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17
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ret.steerActuatorDelay = 0.1
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
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ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
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ret.mass = 1568 + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 20 # learned, 14 stock
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elif candidate == CAR.LEGACY_PREGLOBAL:
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ret.mass = 1568 + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 12.5 # 14.5 stock
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ret.steerActuatorDelay = 0.15
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elif candidate == CAR.OUTBACK_PREGLOBAL:
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ret.mass = 1568 + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 20 # learned, 14 stock
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else:
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raise ValueError(f"unknown car: {candidate}")
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return ret
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
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ret.events = self.create_common_events(ret).to_msg()
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return ret
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def apply(self, c):
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return self.CC.update(c, self.CS)
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