Ram 1500 torque tune (#25117)

* torque control again

* 3mss per s

* no bad sensors

* tweaks

* Need more checks before we can do this

* update refs

* only ram for now

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/chrysler/carcontroller.py

@@ -16,6 +16,7 @@ class CarController:
     self.lkas_active_prev = False
 
     self.packer = CANPacker(dbc_name)
+    self.params = CarControllerParams(CP)
 
   def update(self, CC, CS, low_speed_alert):
     can_sends = []
@@ -40,8 +41,8 @@ class CarController:
     # steering
     if self.frame % 2 == 0:
       # steer torque
-      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
-      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, CarControllerParams)
+      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
+      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
       if not lkas_active:
         apply_steer = 0
       self.steer_rate_limited = new_steer != apply_steer
@@ -56,6 +57,6 @@ class CarController:
     self.lkas_active_prev = lkas_active
 
     new_actuators = CC.actuators.copy()
-    new_actuators.steer = self.apply_steer_last / CarControllerParams.STEER_MAX
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
 
     return new_actuators, can_sends

selfdrive/car/chrysler/interface.py

@@ -46,15 +46,15 @@ class CarInterface(CarInterfaceBase):
 
     # Ram
     elif candidate == CAR.RAM_1500:
+      ret.steerActuatorDelay = 0.2
+
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
       ret.maxLateralAccel = 2.4
       ret.minSteerSpeed = 14.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1], [0.02]]
-      ret.lateralTuning.pid.kf = 0.00003
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")

selfdrive/car/chrysler/values.py

@@ -26,10 +26,16 @@ class CAR:
 
 
 class CarControllerParams:
-  STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
-  STEER_DELTA_UP = 3
-  STEER_DELTA_DOWN = 3
-  STEER_ERROR_MAX = 80
+  def __init__(self, CP):
+    self.STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
+    self.STEER_ERROR_MAX = 80
+
+    if CP.carFingerprint in RAM_CARS:
+      self.STEER_DELTA_UP = 5
+      self.STEER_DELTA_DOWN = 5
+    else:
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 3
 
 STEER_THRESHOLD = 120
 

selfdrive/car/interfaces.py

@@ -135,11 +135,11 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
+  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
     params = get_torque_params(candidate)
 
     tune.init('torque')
-    tune.torque.useSteeringAngle = True
+    tune.torque.useSteeringAngle = use_steering_angle
     tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
     tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
     tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']

selfdrive/car/torque_data/override.yaml

@@ -21,7 +21,7 @@ COMMA BODY: [.nan, 1000, .nan]
 
 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
-RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-825acfae98543c915c18d3b19a9c5d2503e431a6
+d583bbd9643000e7f817171c583d31ae3141a652