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Chrysler: revert torque tuning (#27327)

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* Chrysler: revert torque tuning

* update refs

* update refs + route
old-commit-hash: e3de6b8834
This commit is contained in:
Adeeb Shihadeh
2023-02-13 16:15:59 -08:00
committed by GitHub
parent 3ca1deaa69
commit caaa104d64
5 changed files with 14 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
panda

Submodule panda updated: d15250cb14...14051f9ce3

23
selfdrive/car/chrysler/interface.py
View File

@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, CHRYSLER_OLD_TUNING_BLACKLIST, ChryslerFlags
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from selfdrive.car.interfaces import CarInterfaceBase
@@ -23,9 +23,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_LOWER_RATE
ret.minSteerSpeed = 3.8 # m/s
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in RAM_CARS:
@@ -41,11 +38,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
# Jeep
elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
@@ -54,11 +50,10 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2
if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
# Ram
elif candidate == CAR.RAM_1500:

11
selfdrive/car/chrysler/values.py
View File

@@ -46,12 +46,8 @@ class CarControllerParams:
self.STEER_DELTA_DOWN = 6
self.STEER_MAX = 261 # EPS allows more, up to 350?
else:
if CP.carFingerprint in CHRYSLER_OLD_TUNING_BLACKLIST:
self.STEER_DELTA_UP = 3
self.STEER_DELTA_DOWN = 3
else:
self.STEER_DELTA_UP = 6
self.STEER_DELTA_DOWN = 6
self.STEER_DELTA_UP = 3
self.STEER_DELTA_DOWN = 3
self.STEER_MAX = 261 # higher than this faults the EPS
STEER_THRESHOLD = 120
@@ -60,9 +56,6 @@ RAM_DT = {CAR.RAM_1500, }
RAM_HD = {CAR.RAM_HD, }
RAM_CARS = RAM_DT | RAM_HD
# the increased steer rate hasn't been verified on these cars.
# remove from this list once it's been tested and confirmed to not fault
CHRYSLER_OLD_TUNING_BLACKLIST = {CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE}
@dataclass
class ChryslerCarInfo(CarInfo):

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
69e52f02fd21844ff068c495b7fcb01ebc53bea5
5244c5fea84822bdbcd899a280090e47fb0581b7

2
selfdrive/test/process_replay/test_processes.py
View File

@@ -48,7 +48,7 @@ segments = [
("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
("CHRYSLER", "regenC253C4DAC90|2023-02-10--15-51-03--0"),
("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),