openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/car/tesla/interface.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+from cereal import car
+from panda import Panda
+from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "tesla"
+
+    # There is no safe way to do steer blending with user torque,
+    # so the steering behaves like autopilot. This is not
+    # how openpilot should be, hence dashcamOnly
+    ret.dashcamOnly = True
+
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+
+    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
+    ret.longitudinalTuning.kpBP = [0]
+    ret.longitudinalTuning.kpV = [0]
+    ret.longitudinalTuning.kiBP = [0]
+    ret.longitudinalTuning.kiV = [0]
+    ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    ret.radarTimeStep = (1.0 / 8) # 8Hz
+
+    # 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.
+    if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
+      ret.openpilotLongitudinalControl = True
+      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),
+      ]
+    else:
+      ret.openpilotLongitudinalControl = False
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
+
+    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):
+    ret = self.CS.update(self.cp, self.cp_cam)
+
+    ret.events = self.create_common_events(ret).to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)