CryptoKylan · CryptoKylan · Jan 8, 2019 · Jan 9, 2019 · Jan 10, 2019 · Jan 10, 2019
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -72,8 +72,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     calibrationProgress @47;
     lowBattery @48;
     invalidGiraffeHonda @49;
-    manualSteeringRequired @50;
-    manualSteeringRequiredBlinkersOn @51;
   }
 }
 
@@ -345,7 +343,8 @@ struct CarParams {
   steerReactance @51 :Float32;
   steerInductance @52 :Float32;
   steerResistance @53 :Float32;
-
+
+
   # Kp and Ki for the longitudinal control
   longitudinalKpBP @36 :List(Float32);
   longitudinalKpV @37 :List(Float32);

diff --git a/opendbc/gm_global_a_powertrain.dbc b/opendbc/gm_global_a_powertrain.dbc
@@ -130,7 +130,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,-0.5) [-525|525] "deg"  NEO
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0.3125) [-525|525] "deg"  NEO
  SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
 
 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM

diff --git a/selfdrive/c b/selfdrive/c
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -11,7 +11,7 @@
 class CarControllerParams():
   def __init__(self, car_fingerprint):
     if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
-      self.STEER_MAX = 400
+      self.STEER_MAX = 300
       self.STEER_STEP = 2              # how often we update the steer cmd
       self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
       self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -200,9 +200,9 @@ def get_params(candidate, fingerprint):
       ret.longPidDeadzoneBP = [0.]
       ret.longPidDeadzoneV = [0.]
 
-      ret.longitudinalKpBP = [0., 5., 35.]
-      ret.longitudinalKpV = [3.5, 1.1, 0.7]
-      ret.longitudinalKiBP = [0., 5., 35.]
+      ret.longitudinalKpBP = [0., 2., 35.]
+      ret.longitudinalKpV = [3., 1.1, 0.7]
+      ret.longitudinalKiBP = [0., 2., 35.]
       ret.longitudinalKiV = [0.25, 0.12, 0.08]
 
       ret.steerLimitAlert = True

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -232,7 +232,7 @@ def get_params(candidate, fingerprint):
       tire_stiffness_factor = 0.8467
       ret.steerReactance = 1.0
       ret.steerInductance = 1.0
-      ret.steerResistance = 0.5
+      ret.steerResistance = 1.0
       ret.eonToFront = 1.0
       ret.steerKpV, ret.steerKiV = [[0.64], [0.192]]
       ret.steerKf = 0.000064
@@ -317,8 +317,8 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.81
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0         # as spec
-      tire_stiffness_factor = 0.82
-      ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]
+      tire_stiffness_factor = 0.444 # not optimized yet
+      ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
@@ -369,18 +369,8 @@ def get_params(candidate, fingerprint):
     ret.steerMaxBP = [0.]  # m/s
     ret.steerMaxV = [1.]   # max steer allowed
 
-    # prevent lurching when resuming
-    if ret.enableGasInterceptor:
-      ret.gasMaxBP = [0., 8, 35]
-      ret.gasMaxV = [0.2, 0.6, 0.6]
-      ret.longitudinalKpBP = [0., 5., 35.]
-      ret.longitudinalKpV = [1.2, 0.8, 0.5]
-    else:
-      ret.gasMaxBP = [0.]  # m/s
-      ret.gasMaxV = [0.] # max gas allowed
-
-    #ret.gasMaxBP = [0.]  # m/s
-    #ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
+    ret.gasMaxBP = [0.]  # m/s
+    ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
     ret.brakeMaxBP = [5., 20.]  # m/s
     ret.brakeMaxV = [1., 0.8]   # max brake allowed
 
@@ -451,9 +441,6 @@ def update(self, c):
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = self.CS.cruise_speed_offset
     ret.cruiseState.standstill = False
-
-    ret.readdistancelines = self.CS.read_distance_lines
-    ret.lkMode = self.CS.lkMode
 
     # TODO: button presses
     buttonEvents = []
@@ -528,11 +515,7 @@ def update(self, c):
     else:
       self.cam_can_invalid_count = 0
 
-    if not self.CS.lkMode:
-      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
-    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on):
-      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
-    elif self.CS.steer_error:
+    if self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:
       events.append(create_event('steerTempUnavailable', [ET.WARNING]))
@@ -571,10 +554,9 @@ def update(self, c):
     if self.CP.enableCruise and not ret.cruiseState.enabled and c.actuators.brake <= 0.:
       # non loud alert if cruise disbales below 25mph as expected (+ a little margin)
       if ret.vEgo < self.CP.minEnableSpeed + 2.:
-      #  events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
-      #else:
-        events.append(create_event("cruiseDisabled", [ET.IMMEDIATE_DISABLE]))   # send loud alert if slow and cruise disables during braking
-
+        events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
+      else:
+        events.append(create_event("cruiseDisabled", [ET.IMMEDIATE_DISABLE]))
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.append(create_event('manualRestart', [ET.WARNING]))
 

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -77,6 +77,11 @@ def get_params(candidate, fingerprint):
     ret.steerActuatorDelay = 0.1  # Default delay
     tire_stiffness_factor = 1.
 
+    ret.steerReactance = 1.0
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
+
     if candidate == CAR.SANTA_FE:
       ret.steerKf = 0.00005
       ret.steerRateCost = 0.5

diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
@@ -49,6 +49,11 @@ def get_params(candidate, fingerprint):
     ret.safetyModel = car.CarParams.SafetyModels.noOutput
     ret.openpilotLongitudinalControl = False
 
+    ret.steerReactance = 1.0
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
+
     # FIXME: hardcoding honda civic 2016 touring params so they can be used to
     # scale unknown params for other cars
     ret.mass = 1700.

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -73,6 +73,10 @@ def get_params(candidate, fingerprint):
     tireStiffnessFront_civic = 192150
     tireStiffnessRear_civic = 202500
 
+    ret.steerReactance = 1.0
+    ret.steerInductance = 1.0
+    ret.steerResistance = 1.0
+    ret.eonToFront = 0.5
     ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
 

diff --git a/selfdrive/controls/c b/selfdrive/controls/c
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
@@ -3,9 +3,9 @@
 from selfdrive.config import Conversions as CV
 
 # kph
-V_CRUISE_MAX = 144
-V_CRUISE_MIN = 8
-V_CRUISE_DELTA = 8
+V_CRUISE_MAX = 145
+V_CRUISE_MIN = 10
+V_CRUISE_DELTA = 5
 V_CRUISE_ENABLE_MIN = 40