Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Tried native Stop and Go on Highlander ICE with no comma pedal: Works! #353

Merged
merged 11 commits into from
Sep 7, 2018
Merged

Tried native Stop and Go on Highlander ICE with no comma pedal: Works! #353

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
2812cab
Trying to make Highlander ICE stop and go
zeeexsixare Sep 5, 2018
4dc6066
Making acceleration slow for fuel efficiency
zeeexsixare Sep 5, 2018
7000b1c
Removing annoying commanded disengage beep
zeeexsixare Sep 5, 2018
ba7f505
Raised accel_max by 50% and commented on chime
zeeexsixare Sep 5, 2018
115f4c8
Testing if Highlander ICE can resume follow from 0
zeeexsixare Sep 5, 2018
9b5fd92
Returned to 1.5 m/s2 for testing stop and go
zeeexsixare Sep 6, 2018
1e7cfcd
Prep for merging upstream
zeeexsixare Sep 6, 2018
5e7cceb
Prep for upstream merge item #2
zeeexsixare Sep 6, 2018
4e99248
Added Highlander ICE/Hybrid to Stop and Go
zeeexsixare Sep 6, 2018
c3f51a4
Rollback advertising stop and go for Highlanders
zeeexsixare Sep 7, 2018
c434285
Fix whitespace
zeeexsixare Sep 7, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ Supported Cars
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
Expand Down
6 changes: 3 additions & 3 deletions selfdrive/car/toyota/interface.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -147,9 +147,9 @@ def get_params(candidate, fingerprint):
# to a negative value, so it won't matter.
# hybrid models can't do stop and go even though the stock ACC can't
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]:
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
ret.minEnableSpeed = -1.
elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER]: # TODO: hack ICE to do stop and go
elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS

centerToRear = ret.wheelbase - ret.centerToFront
Expand Down Expand Up @@ -244,7 +244,7 @@ def update(self, c):
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]:
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
ret.cruiseState.standstill = False
Expand Down