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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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23
selfdrive/car/tesla/interface.py
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@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "tesla"
# There is no safe way to do steer blending with user torque,
@@ -28,33 +28,26 @@ class CarInterface(CarInterfaceBase):
# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
# If so, we assume that it is connected to the longitudinal harness.
flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0)
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.openpilotLongitudinalControl = not disable_openpilot_long
flags |= Panda.FLAG_TESLA_LONG_CONTROL
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
get_safety_config(car.CarParams.SafetyModel.tesla, flags),
get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
]
else:
ret.openpilotLongitudinalControl = False
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100.
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15.0
else:
raise ValueError(f"Unsupported car: {candidate}")
return ret
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
ret.events = self.create_common_events(ret, frogpilot_variables).to_msg()
ret.events = self.create_common_events(ret).to_msg()
return ret