Resonant dashboard

launch_chffrplus.sh

@@ -6,11 +6,11 @@ fi
 
 function launch {
   # apply update
-  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-     git reset --hard @{u} &&
-     git clean -xdf &&
-     exec "${BASH_SOURCE[0]}"
-  fi
+  #if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+  #   git reset --hard @{u} &&
+  #   git clean -xdf &&
+  #   exec "${BASH_SOURCE[0]}"
+  #fi
 
   # no cpu rationing for now
   echo 0-3 > /dev/cpuset/background/cpus

launch_openpilot.sh

@@ -1,5 +1,5 @@
 #!/usr/bin/bash
 
-export PASSIVE="0"
+export PASSIVE="1"
 exec ./launch_chffrplus.sh
 

selfdrive/car/ford/interface.py

@@ -77,6 +77,10 @@ def get_params(candidate, fingerprint):
     ret.steerKf = 1. / MAX_ANGLE   # MAX Steer angle to normalize FF
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
     ret.steerRateCost = 1.0
+    ret.steerReactance = 0.7
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
 
     f = 1.2
     tireStiffnessFront_civic *= f

selfdrive/car/gm/interface.py

@@ -64,6 +64,11 @@ def get_params(candidate, fingerprint):
     ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
     ret.openpilotLongitudinalControl = ret.enableCamera
 
+    ret.steerReactance = 0.7
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
+
     std_cargo = 136
 
     if candidate == CAR.VOLT:

selfdrive/car/hyundai/interface.py

@@ -69,6 +69,11 @@ def get_params(candidate, fingerprint):
     tireStiffnessFront_civic = 192150
     tireStiffnessRear_civic = 202500
 
+    ret.steerReactance = 0.7
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
+
     ret.steerActuatorDelay = 0.1  # Default delay
     tire_stiffness_factor = 1.
 

selfdrive/car/mock/interface.py

@@ -74,6 +74,10 @@ def get_params(candidate, fingerprint):
     ret.longitudinalKiBP = [0.]
     ret.longitudinalKiV = [0.]
     ret.steerActuatorDelay = 0.
+    ret.steerReactance = 0.7
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
 
     return ret
 

selfdrive/car/toyota/interface.py

@@ -76,6 +76,11 @@ def get_params(candidate, fingerprint):
     ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
 
+    ret.steerReactance = 0.7
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
+
     if candidate == CAR.PRIUS:
       ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
@@ -86,6 +91,7 @@ def get_params(candidate, fingerprint):
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
       ret.steerActuatorDelay = 0.25
+      ret.eonToFront = -1.0
 
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       ret.safetyParam = 73  # see conversion factor for STEER_TORQUE_EPS in dbc file