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Was wrong about safetyparam #28

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merged 2 commits into from
Jul 31, 2019
Merged

Was wrong about safetyparam #28

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a71d748
Update interface.py
Jul 31, 2019
3df0758
Update toyota_prius_2017_pt_generated.dbc
Jul 31, 2019
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2 changes: 1 addition & 1 deletion opendbc/toyota_prius_2017_pt_generated.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -314,7 +314,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX

BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.55,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
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2 changes: 1 addition & 1 deletion selfdrive/car/toyota/interface.py
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Expand Up @@ -70,7 +70,7 @@ def get_params(candidate, fingerprint, vin="", is_panda_black=False):

if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 55 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 14.0 # unknown end-to-end spec
tire_stiffness_factor = 0.725 # hand-tune
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