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Vehicles - Subaru - Subaru Crosstrek Torque Increase

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Increases the maximum allowed torque for the Subaru Crosstrek.
This commit is contained in:
FrogAi 2024-05-10 23:56:57 -07:00
parent 461ee1e274
commit 2fe3ad2309
3 changed files with 7 additions and 3 deletions
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2
panda/board/safety/safety_subaru.h
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@ -17,7 +17,7 @@
} }
const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70); const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(3071, 50, 70);
const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40); const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);

6
selfdrive/car/subaru/interface.py
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@ -11,6 +11,8 @@ class CarInterface(CarInterfaceBase):
@staticmethod @staticmethod
def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
crosstrek_torque_increase = params.get_bool("CrosstrekTorque")
ret.carName = "subaru" ret.carName = "subaru"
ret.radarUnavailable = True ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need: # for HYBRID CARS to be upstreamed, we need:
@ -51,9 +53,9 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.IMPREZA: elif candidate == CAR.IMPREZA:
ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00003333 if crosstrek_torque_increase else 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] if crosstrek_torque_increase else [[0.2, 0.3], [0.02, 0.03]]
elif candidate == CAR.IMPREZA_2020: elif candidate == CAR.IMPREZA_2020:
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')

2
selfdrive/car/subaru/values.py
View File

@ -26,6 +26,8 @@ class CarControllerParams:
self.STEER_DELTA_DOWN = 40 self.STEER_DELTA_DOWN = 40
elif CP.carFingerprint == CAR.IMPREZA_2020: elif CP.carFingerprint == CAR.IMPREZA_2020:
self.STEER_MAX = 1439 self.STEER_MAX = 1439
elif CP.carFingerprint == CAR.IMPREZA and Params().get_bool("CrosstrekTorque"):
self.STEER_MAX = 3071
else: else:
self.STEER_MAX = 2047 self.STEER_MAX = 2047