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Genesis fix, working #4

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Genesis fix, working #4

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83bdd27
fix forwarding for giraffe
xx979xx Aug 21, 2018
6da4a9a
fix forwarding for giraffe
xx979xx Aug 21, 2018
1155206
Update carcontroller.py
xx979xx Aug 21, 2018
d1511a0
Update interface.py
xx979xx Aug 21, 2018
d05c5c1
fix speed error
xx979xx Aug 21, 2018
70cde91
Fix min speed unit
xx979xx Aug 21, 2018
c5b7e46
Improve tuning
xx979xx Aug 21, 2018
b4206de
tuning
xx979xx Aug 31, 2018
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2 changes: 1 addition & 1 deletion panda/board/drivers/can.h
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Expand Up @@ -84,7 +84,7 @@ int can_err_cnt = 0;
CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
uint8_t bus_lookup[] = {0,1,2};
uint8_t can_num_lookup[] = {0,1,2,-1};
int8_t can_forwarding[] = {1,-1,-1,-1};
int8_t can_forwarding[] = {2,-1,-1,-1};
uint32_t can_speed[] = {5000, 5000, 5000, 333};
bool can_autobaud_enabled[] = {false, false, false, false};
#define CAN_MAX 3
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2 changes: 1 addition & 1 deletion selfdrive/car/hyundai/camstate.py
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Expand Up @@ -27,7 +27,7 @@ def get_can_parser2(CP):
("LKAS12", 10) # LKAS12 = 10Hz
]

return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)


class CamState(object):
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4 changes: 2 additions & 2 deletions selfdrive/car/hyundai/carcontroller.py
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Expand Up @@ -136,13 +136,13 @@ def update(self, sendcan, enabled, CS, frame, actuators, CamS):
lkas11_byte3 = CamS.lkas11_b3
# When LKAS Forward is disabled, we generate the entire LKAS message
else:
lkas11_byte0 = self.lanes + 0x2
lkas11_byte0 = self.lanes + 0x06
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lkas11_byte1 = 0x00
lkas11_byte2 = apply_steer_a
lkas11_byte3 = apply_steer_b
lkas11_byte4 = (self.idx * 16) + 0x04
lkas11_byte5 = 0x00
lkas11_byte7 = 0x18
lkas11_byte7 = 0x02
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4 changes: 2 additions & 2 deletions selfdrive/car/hyundai/carstate.py
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Expand Up @@ -132,8 +132,8 @@ def update(self, cp):

# There is a 2% error on Sorento GT due to slightly larger wheel diameter compared to poverty packs.
# Dash assumes about 4% which is excessive. Using 3% to be safe
if self.car_fingerprint == CAR.SORENTO:
self.v_wheel = self.v_wheel * 1.03
if self.car_fingerprint == CAR.GENESIS:
self.v_wheel = self.v_wheel * 1.075
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Have you checked this against GPS?
Your Dash could be reporting a false high speed (common for most manufacturers)
We want the speed to be accurate, not equal to the dash.

self.low_speed_lockout = self.v_wheel < 1.0

# Kalman filter
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33 changes: 24 additions & 9 deletions selfdrive/car/hyundai/interface.py
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Expand Up @@ -63,6 +63,16 @@ def get_params(candidate, fingerprint):
ret.safetyModel = car.CarParams.SafetyModels.hyundai

# pedal
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500

ret.enableCruise = False

rotationalInertia = 2500
Expand All @@ -74,21 +84,22 @@ def get_params(candidate, fingerprint):
ret.steerActuatorDelay = 0.1 # Default delay, Prius has larger delay

#borrowing a lot from corolla, given similar car size
ret.steerKf = 0.00008 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.
ret.steerKf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 0.5
stop_and_go = True
ret.mass = 1985 + std_cargo
ret.wheelbase = 2.78
ret.steerRatio = 15.0
ret.steerKpV, ret.steerKiV = [[0.20], [0.007]]
ret.mass = 2060 + std_cargo
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.steerKpV, ret.steerKiV = [[0.16], [0.007]]
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 1.

ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]

# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1.
ret.minEnableSpeed = 56 * CV.KPH_TO_MS

centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
Expand All @@ -97,8 +108,12 @@ def get_params(candidate, fingerprint):

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = tireStiffnessFront * ret.mass * (centerToRear / ret.wheelbase)
ret.tireStiffnessRear = tireStiffnessRear * ret.mass * (ret.centerToFront / ret.wheelbase)
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)

# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
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