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FrogPilot's Toyota tune

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This commit is contained in:
James
2024-02-27 16:34:47 -07:00
committed by FrogAi
parent 9f12f67d06
commit caba8a53b4
4 changed files with 24 additions and 2 deletions
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19
selfdrive/car/toyota/interface.py
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@@ -282,6 +282,25 @@ class CarInterface(CarInterfaceBase):
tune.kpV = [0.8, 1.]
tune.kiBP = [0., 5.]
tune.kiV = [0.3, 1.]
elif params.get_bool("FrogsGoMooTune"):
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.stopAccel = -2.5
ret.stoppingDecelRate = 0.009 # reach stopping target smoothly
else:
ret.stopAccel = -2.5 # on stock Toyota this is -2.5
ret.stoppingDecelRate = 0.3 # This is okay for TSS-P
ret.vEgoStarting = 0.1
ret.vEgoStopping = 0.1
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.]