From 5758d7045df41f569b4426cf96f756779a9538bc Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Fri, 10 May 2024 23:59:16 -0700 Subject: [PATCH] Vehicles - Toyota - Longitudinal Tune - DragonPilot Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com> Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com> --- selfdrive/car/toyota/interface.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index b94177c..83108bc 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -154,6 +154,20 @@ 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]