Kegman 0.7 (#2)

* changes for fit with pedal * correct spelling error CrusieDelta -> CruiseDelta
fraserxiong · Dec 25, 2019 · 4f57bb7 · 4f57bb7
1 parent 78dbf03
commit 4f57bb7
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Showing 4 changed files with 11 additions and 8 deletions.
diff --git a/opendbc/honda_fit_ex_2018_can_generated.dbc b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -3,8 +3,8 @@ CM_ "AUTOGENERATED FILE, DO NOT EDIT"
 
 CM_ "Imported file _comma.dbc starts here"
 BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND : 7|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -257,11 +257,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
       ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.53
       ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 13.06
+      ret.steerRatio = 10.25
       tire_stiffness_factor = 0.75
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.20], [0.04]]
+      # BP values are speeds - 0 m/s, 10 m/s, 35 m/s
+      # which is 0 MPH, 22 MPH, and 78 MPH
+      ret.longitudinalTuning.kpBP = [0., 10., 35.]
+      # These are corresponding Kp values with the above speeds
+      ret.longitudinalTuning.kpV = [0.6, 0.4, 0.3]
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
 

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
@@ -105,7 +105,7 @@ class CAR:
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5
   }],
   CAR.FIT: [{
-    57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 427: 3, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
+    57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 427: 3, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
   }],
   # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
   CAR.ODYSSEY: [{

diff --git a/selfdrive/kegman_conf.py b/selfdrive/kegman_conf.py
@@ -140,7 +140,7 @@ def read_config(self):
 		     "1barHwy":"0.4", "2barHwy":"0.3", "3barHwy":"0.1", \
 		     "steerRatio":"-1", "steerRateCost":"-1", "slowOnCurves":"0", "Kf":"-1", \
 		     "sR_boost":"0", "sR_BP0":"0", "sR_BP1":"0", "sR_time":"1", \
-                     "ALCnudgeLess":"0", "ALCminSpeed":"20.1168", "ALCtimer":"2.0", "CrusieDelta":"8", "CruiseEnableMin":"40"}
+                     "ALCnudgeLess":"0", "ALCminSpeed":"20.1168", "ALCtimer":"2.0", "CruiseDelta":"8", "CruiseEnableMin":"40"}
 
 
       self.write_config(self.config)