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DragonPilot's Toyota tune 

Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-02-27 16:34:47 -07:00
parent d5cf195571
commit a08750ce07
3 changed files with 16 additions and 0 deletions
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1
common/params.cc
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@ -247,6 +247,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DeviceShutdown", PERSISTENT},
{"DisableOnroadUploads", PERSISTENT},
{"DisengageVolume", PERSISTENT},
{"DragonPilotTune", PERSISTENT},
{"DriveStats", PERSISTENT},
{"DynamicPathWidth", PERSISTENT},
{"EngageVolume", PERSISTENT},

14
selfdrive/car/toyota/interface.py
View File

@ -282,6 +282,20 @@ class CarInterface(CarInterfaceBase):
tune.kpV = [0.8, 1.]
tune.kiBP = [0., 5.]
tune.kiV = [0.3, 1.]
elif (candidate in TSS2_CAR or ret.enableGasInterceptor) and params.get_bool("DragonPilotTune"):
# Credit goes to the DragonPilot team!
tune.deadzoneBP = [0., 16., 20., 30.]
tune.deadzoneV = [0., .03, .06, .15]
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
# In MPH = [ 0, 27, 45, 60, 89]
tune.kiBP = [ 0., 12., 20., 27., 40.]
tune.kiV = [.35, .215, .195, .10, .01]
if candidate in TSS2_CAR:
ret.vEgoStopping = 0.1 # car is near 0.1 to 0.2 when car starts requesting stopping accel
ret.vEgoStarting = 0.1 # needs to be > or == vEgoStopping
ret.stopAccel = -0.40 # Toyota requests -0.4 when stopped
ret.stoppingDecelRate = 0.5 # reach stopping target smoothly
elif candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]

1
selfdrive/frogpilot/ui/vehicle_settings.cc
View File

@ -12,6 +12,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
std::vector<std::pair<QString, QString>> tuneOptions{
{"StockTune", tr("Stock")},
{"CydiaTune", tr("Cydia's")},
{"DragonPilotTune", tr("DragonPilot's")},
};
toggle = new FrogPilotButtonsParamControl(param, title, desc, icon, tuneOptions);