mirror of
https://github.com/sunnypilot/sunnypilot.git
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1a2bf8412c
* Set good torque using torque controller tuning
* should be equal to
* save lateral accel to car params
* use maxLateralAccel
* always
* same convention
* nan will always evaluate to false
* The great good torque purge
* adjust default friction
* Add data for more cars
* adjust name
* Welcome back, guys. Only adjust good torque if maxLatAccel is set
* Update refs (1.7 is 1.7000001...)
old-commit-hash: c6bc03311c
56 lines
1.7 KiB
Python
56 lines
1.7 KiB
Python
#!/usr/bin/env python3
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import math
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from cereal import car
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from common.realtime import DT_CTRL
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from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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from selfdrive.car.body.values import SPEED_FROM_RPM
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.notCar = True
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ret.carName = "body"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
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ret.minSteerSpeed = -math.inf
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ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
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ret.steerRatio = 0.5
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ret.steerRateCost = 0.5
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.
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ret.mass = 9
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ret.wheelbase = 0.406
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ret.wheelSpeedFactor = SPEED_FROM_RPM
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ret.centerToFront = ret.wheelbase * 0.44
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ret.radarOffCan = True
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ret.openpilotLongitudinalControl = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp)
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# wait for everything to init first
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if self.frame > int(5. / DT_CTRL):
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# body always wants to enable
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ret.init('events', 1)
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ret.events[0].name = car.CarEvent.EventName.pcmEnable
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ret.events[0].enable = True
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self.frame += 1
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return ret
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def apply(self, c):
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return self.CC.update(c, self.CS)
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