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Corolla TSS2 Tune #155

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Merged
sshane merged 3 commits into from
Aug 10, 2020
Merged

Corolla TSS2 Tune #155

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9b48600
Update interface.py
majorwolf Aug 6, 2020
45853b1
Update op_params.py
majorwolf Aug 6, 2020
66aac85
Update interface.py
majorwolf Aug 6, 2020
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1 change: 1 addition & 0 deletions common/op_params.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,7 @@ def __init__(self):
'localizer might not work correctly'),
'prius_use_lqr': Param(False, bool, 'If you have a newer Prius with a good angle sensor, you can try enabling this to use LQR'),
'corolla_use_lqr': Param(False, bool, 'Enable this to use LQR for lat with your Corolla (2017)'),
'corollaTSS2_use_indi': Param(False, bool, 'Enable this to use INDI for lat with your Corolla with TSS2'),
'username': Param(None, [type(None), str, bool], 'Your identifier provided with any crash logs sent to Sentry.\n'
'Helps the developer reach out to you if anything goes wrong'),

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17 changes: 15 additions & 2 deletions selfdrive/car/toyota/interface.py
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Expand Up @@ -10,6 +10,7 @@
op_params = opParams()
prius_use_lqr = op_params.get('prius_use_lqr')
corolla_use_lqr = op_params.get('corolla_use_lqr')
corollaTSS2_use_indi = op_params.get('corollaTSS2_use_indi')
EventName = car.CarEvent.EventName

class CarInterface(CarInterfaceBase):
Expand Down Expand Up @@ -255,8 +256,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594

# birdman6450#7399's Corolla 2020 TSS2 Tune
if corollaTSS2_use_indi:
ret.steerRatio = 15.33
tire_stiffness_factor = 0.996
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 6.0
ret.lateralTuning.indi.outerLoopGain = 15.0
ret.lateralTuning.indi.timeConstant = 5.5
ret.lateralTuning.indi.actuatorEffectiveness = 6.0
ret.steerActuatorDelay = 0.57
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594

elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
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