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https://github.com/dragonpilot/dragonpilot.git
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28eed156e0
* move fingerpints * fix circular imports * fix circular imports * fix auto fingerprint * fix those tests * and controlsd * add labeler rule * no defaultdict
48 lines
1.0 KiB
Python
48 lines
1.0 KiB
Python
from enum import StrEnum
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from typing import Dict
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from cereal import car
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from openpilot.selfdrive.car import dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarInfo
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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SPEED_FROM_RPM = 0.008587
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class CarControllerParams:
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ANGLE_DELTA_BP = [0., 5., 15.]
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ANGLE_DELTA_V = [5., .8, .15] # windup limit
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ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
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STEER_THRESHOLD = 1.0
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def __init__(self, CP):
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pass
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class CAR(StrEnum):
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BODY = "COMMA BODY"
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CAR_INFO: Dict[str, CarInfo] = {
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CAR.BODY: CarInfo("comma body", package="All"),
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}
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
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bus=0,
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),
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],
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)
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DBC = {
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CAR.BODY: dbc_dict('comma_body', None),
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}
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