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Toyota: merge Lexus RX params #23374

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merged 3 commits into from
Jan 3, 2022
Merged

Toyota: merge Lexus RX params #23374

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17af9fc
Toyota: merge Lexus RX params
adeebshihadeh Jan 3, 2022
3d4b7d2
pick tuning
adeebshihadeh Jan 3, 2022
65282b2
add those back
adeebshihadeh Jan 3, 2022
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31 changes: 3 additions & 28 deletions selfdrive/car/toyota/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,40 +57,15 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # py
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_A)

elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_B)

elif candidate == CAR.LEXUS_RXH:
elif candidate in [CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2]:
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.wheelSpeedFactor = 1.035
tire_stiffness_factor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
ret.wheelSpeedFactor = 1.035

elif candidate == CAR.LEXUS_RXH_TSS2:
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16.0 # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_E)
ret.wheelSpeedFactor = 1.035

elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.wheelbase = 2.63906
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8 changes: 0 additions & 8 deletions selfdrive/car/toyota/tunes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -80,10 +80,6 @@ def set_lat_tune(tune, name):
tune.pid.kpV = [0.2]
tune.pid.kiV = [0.05]
tune.pid.kf = 0.00003
elif name == LatTunes.PID_B:
tune.pid.kpV = [0.6]
tune.pid.kiV = [0.05]
tune.pid.kf = 0.00006
elif name == LatTunes.PID_C:
tune.pid.kpV = [0.6]
tune.pid.kiV = [0.1]
Expand All @@ -92,10 +88,6 @@ def set_lat_tune(tune, name):
tune.pid.kpV = [0.6]
tune.pid.kiV = [0.1]
tune.pid.kf = 0.00007818594
elif name == LatTunes.PID_E:
tune.pid.kpV = [0.6]
tune.pid.kiV = [0.15]
tune.pid.kf = 0.00007818594
elif name == LatTunes.PID_F:
tune.pid.kpV = [0.723]
tune.pid.kiV = [0.0428]
Expand Down