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VW PQ: Consolidate and cleanup tuning (#31566) 

consolidate and cleanup PQ configs
This commit is contained in:
Jason Young 2024-02-23 19:35:21 -06:00 committed by GitHub
parent 1161d33c18
commit b75a6cea34
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1 changed files with 11 additions and 10 deletions
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21
selfdrive/car/volkswagen/interface.py
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@ -72,14 +72,18 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
ret.steerLimitTimer = 0.4
if candidate in PQ_CARS:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
else:
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Global longitudinal tuning defaults, can be overridden per-vehicle
@ -131,8 +135,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.POLO_MK6:
ret.mass = 1230
@ -142,7 +144,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1639
ret.wheelbase = 2.92
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498