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update rav4h_tss2 tune #1260

Merged
merged 3 commits into from
Mar 30, 2020
Merged

update rav4h_tss2 tune #1260

merged 3 commits into from
Mar 30, 2020

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yufeng66
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Reduce pid gain for rav4h_tss2 to reduce ping pong at local speed big turns. There are several discord members have the same issue. The tuning is based on TaiFeng's work https://github.com/illumiN8i/openpilot/pull/2/files
The following is two drive on the same road.

*After, much smoother. steer_rate peak to peak is closer to 30
https://my.comma.ai/cabana/?route=b2fec0be8f33145c%7C2020-03-21--15-15-46&exp=1616359651&sig=5PoE7pYVVSasSabZTb6PBGHxNNXjDdYknjRK23Zyi1Y%3D&max=9&url=https%3A%2F%2Fchffrprivate-vzn.azureedge.net%2Fchffrprivate3%2Fv2%2Fb2fec0be8f33145c%2F558fa08d6abb53bb0a09abe1d270171e_2020-03-21--15-15-46
modified tune

@yufeng66
update rav4h_tss2 tune
c68707a 
reduce pid gains for rav4h_tss2 to reduce ping pong at local speed and big turn
@yufeng66
Merge pull request #1 from yufeng66/rav4h_tss2-tune
020addd 
update rav4h_tss2 tune
@yufeng66
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And here is the torque chart and higher resolution steering chart from torque sensor.

  • Before. Around 135 seconds, the steering angle change rapidly. The torque oscillate between 0 and -1500 which is the max.
    torque before

  • After. The same road is at around 127 seconds. The steering angle changes in a much smoother fashion. Torque oscillation is much better under control.
    torque after

@mattbsea
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I have a 2020 RAV4 Hybrid XLE. These parameter changes make a huge difference in handling around turns. Default parameters are unusable and result in extreme ping/pong.

I am running release-0.7.4, which cherry-picked c68707a

arne182 added a commit to arne182/ArnePilot that referenced this pull request Mar 24, 2020
@arne182
return RAV4 longitudinal tuning and add commaai#1260
b00c7bd
@geohot
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geohot commented Mar 27, 2020

@pd0wm I feel okay merging this, look okay to you?

@pd0wm
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pd0wm commented Mar 29, 2020 •
edited
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Yes. A 4x decrease in kp is quite significant though. I'm really surprised the response is so different.

I'm also wondering if the non hybrid version of the Rav4 also needs this tuning.

@yufeng66
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yufeng66 commented Mar 29, 2020 •
edited
Loading

At least one, maybe more, non hybrid user on discord uses this tuning as well.

Annotation 2020-03-29 184916

I don't have a non hybrid rav4 to test so I can't be sure. But I think it might be a good idea to apply it to all tss2 rav4

@pd0wm
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pd0wm commented Mar 29, 2020

@yufeng66 Can you update the PR to change the tuning for both cars?

@pd0wm pd0wm merged commit ba1e79d into commaai:master Mar 30, 2020
netadvanced added a commit to netadvanced/openpilot that referenced this pull request Apr 2, 2020
@netadvanced
Squashed commit of the following:
5e5eac9 
commit 23067f1
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 20:26:47 2020 +0200

    Public drive does but seem to work

commit 8711eda
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 19:29:03 2020 +0200

    Move centerToFront to right place

commit f234226
Merge: 69ec6c6 ac246ea
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 19:28:27 2020 +0200

    Merge pull request commaai#592 from arne182/release4

    sync forks

commit 69ec6c6
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 19:05:20 2020 +0200

    move centerToFront after wheelbase is set

commit ac246ea
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 18:54:57 2020 +0200

    remove v_ego

commit f292adc
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 18:22:25 2020 +0200

    drive VOLKSWAGEN.SKODA_SUPERB_B8 tbd

commit d1b8a79
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 18:22:18 2020 +0200

    make VOLKSWAGEN.SKODA_SUPERB_B8 untested

commit a071201
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 18:18:23 2020 +0200

    Remove CV

commit e1c7b94
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 18:00:58 2020 +0200

    revert 840 removed

commit a69bb5f
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 17:59:06 2020 +0200

    tesla not supported

commit 76e6215
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 17:54:54 2020 +0200

    remove 840: 8

commit bcbb3c2
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 17:32:25 2020 +0200

    update VW tests

commit d1ae583
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 17:30:14 2020 +0200

    Update VW_Touran FP

commit 8bace0e
Merge: c997772 4b49df3
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 17:28:00 2020 +0200

    Merge pull request commaai#591 from netadvanced/vw-skoda

    VW skoda

commit c997772
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sun Mar 29 15:11:40 2020 +0200

    Use @wei accel profile

commit 7d38a11
Merge: e22331b 7ec594d
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Sun Mar 29 00:06:11 2020 -0700

    Merge pull request commaai#590 from arne182/074-clean

    074 clean

commit 7ec594d
Merge: 565dc93 e22331b
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 21:04:46 2020 +0100

    Merge pull request commaai#589 from arne182/release4

    sync up forks

commit 565dc93
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Sat Mar 28 12:57:00 2020 -0700

    CHANGE LOG: Added New Feature.

commit bd95c9e
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Sat Mar 28 12:31:24 2020 -0700

    fix for stay awake.

commit 24eb3c2
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 13:30:01 2020 +0100

    Don't pause here

commit f627633
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 13:25:55 2020 +0100

    Use scene

commit a640543
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 13:24:05 2020 +0100

    Clean up UI

commit 8489dc1
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 13:20:34 2020 +0100

    Move IP address back to scene

commit 40e7e2f
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 13:18:05 2020 +0100

    Remove ipaddress  param

commit fe4cb05
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 13:16:21 2020 +0100

    Remove param

commit 7e7a117
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 12:36:22 2020 +0100

    list is required

commit 63b23da
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 10:40:20 2020 +0100

    must be sent as list

commit 1621759
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 09:04:29 2020 +0100

    Fix

commit d8ed78e
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 07:19:33 2020 +0100

    use different variable name

commit 2af14a9
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 07:10:02 2020 +0100

    Travis needs to be checked first

commit 911b741
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Sat Mar 28 02:16:07 2020 +0100

    assign IP address correctly

commit e00be10
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Fri Mar 27 13:45:13 2020 -0700

    syntax

commit 2085e41
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Fri Mar 27 13:42:00 2020 -0700

    typo

commit 813684b
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:34:16 2020 +0100

    write ipAddr from capnp

commit 5376f3e
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:31:37 2020 +0100

    remove capital

commit bf76d52
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:30:01 2020 +0100

    add ipAddress sock

commit 2e82495
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:27:12 2020 +0100

    ipAddress over capnp

commit 041d394
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:25:17 2020 +0100

    similar spelling

commit dd69b53
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:20:33 2020 +0100

    fix numbering

commit 3748d09
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:20:12 2020 +0100

    add ipaddress

commit 32a7317
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:18:55 2020 +0100

    add IPAddress capnp

commit 129b19c
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:15:04 2020 +0100

    syntax fix

commit 451f418
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 21:13:55 2020 +0100

    syntax fix

commit 8eea6ca
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Fri Mar 27 13:00:10 2020 -0700

    Green batt% text is hard to read when its engaged.

commit a566cf5
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 20:55:45 2020 +0100

    fix syntax

commit 43baf86
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 20:32:50 2020 +0100

    fix syntax error

commit 120b762
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 20:22:07 2020 +0100

    remove &

commit dc4f583
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 20:05:05 2020 +0100

    try remove &

commit b968c65
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 19:23:34 2020 +0100

    fix typo

commit f950be3
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 18:40:09 2020 +0100

    add read_param_str

commit 6a2503b
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 17:03:26 2020 +0100

    try use const char*

commit 98e87da
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 16:39:23 2020 +0100

    try defining the param length

commit 4bc5f49
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 16:27:33 2020 +0100

    Add back stock toyota LDA

commit c5072e8
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 16:10:48 2020 +0100

    ipAddr is now UIState

commit c0814c6
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 16:08:38 2020 +0100

    add ipAddr to UIState

commit a0dd81a
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:50:55 2020 +0100

    add angle later for set speed

commit b18ecd0
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:49:17 2020 +0100

    remove square root of factor for model braking

commit 59873eb
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:38:46 2020 +0100

    add angle_later logic to planner

commit 7ce04bf
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:36:24 2020 +0100

    add latControl back to planner

commit 7b25f11
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:33:14 2020 +0100

    typo fix

commit 3486946
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:32:36 2020 +0100

    read ipAddr from params

commit f2b9f78
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:29:56 2020 +0100

    add ipAddr_timeout

commit 1a17de7
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:24:34 2020 +0100

    Go back to stock log.capnp

commit a31f208
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:23:01 2020 +0100

    Add IPAddress logic

commit 0bae706
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 15:18:00 2020 +0100

    Add IPAddress to params

commit 828a01c
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 14:33:42 2020 +0100

    Don't release brakes when stop requested at 9m

commit 397ab98
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 11:20:50 2020 +0100

    add latControl.anglelater

commit df41333
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 09:39:57 2020 +0100

    Add old Dynamic Gas simplified

commit 08dbd4a
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 27 09:39:53 2020 +0100

    Add old Dynamic Gas simplified

commit e22331b
Merge: ce22b25 24a6d5f
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Thu Mar 26 23:25:55 2020 -0700

    Merge pull request commaai#588 from arne182/074-clean

    074 clean

commit 24a6d5f
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Thu Mar 26 21:12:37 2020 +0100

    New lane planner

commit c888636
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Thu Mar 26 21:11:09 2020 +0100

    New lane planner

commit a5a65c1
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Thu Mar 26 21:10:08 2020 +0100

    New lane planner

commit 2f3807e
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Thu Mar 26 11:26:27 2020 +0100

    Reduce harsh stopping rate at stop to standstill

commit 4f97fc5
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Thu Mar 26 10:56:13 2020 +0100

    reset only if kp and ki was 0

commit 87287f2
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Thu Mar 26 10:33:33 2020 +0100

    When changing CP values reset the PID to the current speed

commit acae789
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Wed Mar 25 16:03:51 2020 -0700

    go back to old touch postion for df button.

commit 708c4a8
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Wed Mar 25 18:12:24 2020 +0100

    Clear params on panda connect and not disconnect

commit c4a0c35
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Wed Mar 25 16:48:48 2020 +0100

    at 1m before speed limit hand over to pid

commit 90c9622
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Wed Mar 25 14:41:36 2020 +0100

    fix last lead_data ref

commit bd87365
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Wed Mar 25 14:24:05 2020 +0100

    Travis fixes

commit c553f96
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Wed Mar 25 13:47:12 2020 +0100

    Simplify Dynamic Follow

commit ce22b25
Merge: b00c7bd ee1cbb5
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Tue Mar 24 23:29:11 2020 -0700

    Merge pull request commaai#587 from arne182/074-clean

    0.7.4 update

commit ee1cbb5
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 20:28:43 2020 +0100

    refactor values

commit 6f64a96
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 20:06:48 2020 +0100

    add back TSS2_CAR BSM

commit 511063c
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 19:59:18 2020 +0100

    move button again

commit f4a80d0
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Tue Mar 24 10:54:28 2020 -0700

    CHANGE LOG: ADDED NEW FEATURE AND ORGANIZE OP_PARAMS.PY

commit bff93f1
Author: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date:   Tue Mar 24 10:52:56 2020 -0700

    CHANGE LOG: ADDED NEW FEATURE AND ORGANIZE OP_PARAMS.PY

commit 3b79e86
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 17:54:22 2020 +0100

    remove duplicate RAV4H_TSS2

commit d1fbd82
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 17:45:59 2020 +0100

    Increase the MPC distance cost

commit b00c7bd
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 14:32:37 2020 +0100

    return RAV4 longitudinal tuning and add commaai#1260

commit 71935ab
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 13:51:58 2020 +0100

    Add limit RSA logic

commit bde5fd8
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 13:45:43 2020 +0100

    RSA limit added

commit b945363
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 12:25:23 2020 +0100

    CarVin is binary

commit 1e52612
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 12:20:14 2020 +0100

    More syntax

commit ba0968a
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 12:17:46 2020 +0100

    Fix syntax

commit 5ccaf25
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 11:41:20 2020 +0100

    Limit unknown ECU to my vin

commit 520a1ae
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Tue Mar 24 11:17:22 2020 +0100

    ret.cruiseState.speed now in kph for 5 jump

commit d831896
Author: Comma Device <device@comma.ai>
Date:   Tue Mar 24 02:52:57 2020 +0000

    Added IP address and panda satelite count on sidebar.

commit 310cbaf
Merge: 16d9690 fb947e3
Author: Arne Schwarck <arneschwarck@gmail.com>
Date:   Fri Mar 13 13:45:29 2020 +0100

    Merge pull request commaai#582 from arne182/073-clean

    073 clean updates
@dpanych
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dpanych commented May 17, 2020

This seems to be causing terrible ping ponging on my rav4 hybrid 2020.

@RICKYMAMA1
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I am also getting much more ping pong effect on my 2020 XSE hybrid Rav4.

@Taik
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Taik commented Jul 2, 2020

Can confirm -- getting more ping-ponging on my Rav4 Hybrid 2020, especially on highways.

@yufeng66
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yufeng66 commented Jul 2, 2020

The tss2 rav4 tuning is further updated by this
#1558

If you are running the latest version of openpilot and still have ping pong problem you should contact pd0wm and let him know your firmware version

@yufeng66 yufeng66 mentioned this pull request Jun 29, 2021
Merged
smasher816 pushed a commit to smasher816/FrogPilot that referenced this pull request Sep 21, 2024
@sshane
Toyota: pitch compensate new long tune (commaai#1260)
eff763b 
* compensate for pitch (shouldn't apply too much on downhills and too little on uphills now) with some tricks

* less defart

* , given
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8 participants
@yufeng66 @mattbsea @geohot @pd0wm @dpanych @RICKYMAMA1 @Taik @vanillagorillaa