zhudongjer/carrot
1
1
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

FrogPilot community - EPS mod - 17'-22' - Select Bosch civic's

Browse Source 
Co-Authored-By: cfranyota <46506059+cfranyota@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-09 22:20:14 -07:00
parent 4e710c6abf
commit 836636498d
2 changed files with 16 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
selfdrive/car/honda/fingerprints.py
View File

@ -407,6 +407,16 @@ FW_VERSIONS = {
b'39990-TGG-J510\x00\x00',
b'39990-TGL-E130\x00\x00',
b'39990-TGN-E120\x00\x00',
#modded EPS bosch civic fw list
b'39990-TBA,C020\x00\x00',
b'39990-TBA,C120\x00\x00',
b'39990-TEA,T820\x00\x00',
b'39990-TEZ,T020\x00\x00',
b'39990-TGG,A020\x00\x00',
b'39990-TGG,A120\x00\x00',
b'39990-TGG,J510\x00\x00',
b'39990-TGL,E130\x00\x00',
b'39990-TGN,E120\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TBA-A060\x00\x00',

8
selfdrive/car/honda/interface.py
View File

@ -108,8 +108,12 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
if eps_modified:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end