Update Highlander Tuning #464
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Merge 0.5.7 with cleanupstream
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Do you have some trace (e.g. cabana plots) to show the behavior before VS after the tuning? |
Sure, will acquire some over the next few days. |
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Note to myself: Jan 7 2019 mid-day drives |
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@rbiasini I whipped up a presentation of results. Let me know what you think: Link to Cabana with Stock Values (slow speed, then high speed, then medium speed curve): Link to Cabana with P Lee Values (slow speed, then high speed, then medium speed curve): |
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@zeeexsixare , awesome documentation. I would be fine with the Kp and Ki change. What I'm very unsure about is the change to kf. 0.0003 means full steer torque command at 4 deg steering angle and 65 mph (0.00033030*4 ~= 1). Next week we can test this setting on our cars. |
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I was unsure of the change I made to kf, too regarding safety. Let me test your proposed lower value and report back. |
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kf = 0.00015 continues to work very well. Do you need a re-test of the test scenario in my presentation with this new kf? Or will you guys test it out and push if acceptable? |
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Thanks, It's acceptable without redoing the ppt. Other users tested it too?
…On Sun, Jan 27, 2019, 12:30 PM P Lee ***@***.*** wrote:
kf = 0.00015 continues to work very well. Do you need a re-test of the
test scenario in my presentation with this new kf? Or will you guys test it
out and push if acceptable?
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I haven't had others try it out, good idea. I'll forward on to other Highlander users on Discord and report back once we have consensus. |
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Riccardo, I've confirmed through a month of varied driving that we are good to push the latest parameters with the lower Kf at 0.00015. (my commit comment is missing a 0). The lower value fixed some hugging issues. Others agree and are ready to push! |
Closed
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Fixed in Highlander Tuning #690 |
Chrispreilly
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Minor updates
pd0wm
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ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: ceff91d
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0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0f21b19
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0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
pd0wm
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Mar 12, 2020
0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
pd0wm
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0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
pd0wm
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0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
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0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
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0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
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0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
pd0wm
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0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
pd0wm
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Mar 16, 2020
0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730
Vaggysag
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Apr 21, 2020
* WIP: adding brake check * Added Hyundai brake tests
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