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Cherokee KL - PID Lateral Tested, Reduced MinSteer Tested #112

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Cherokee KL - PID Lateral Tested, Reduced MinSteer Tested #112

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1668fc4
Cherokee KL - PID Lateral Tested, Reduced MinSteer Tested
ngk0 Mar 30, 2024
0fc5988
Increasing Steer Torque to Panda Max 261
ngk0 Apr 5, 2024
46cc1bf
revert Max steer back to 250
ngk0 Apr 5, 2024
b5dccbc
Update carcontroller.py testing wp
ngk0 Apr 11, 2024
0819bf9
Update interface.py testing. wp
ngk0 Apr 11, 2024
fdb3358
Update carcontroller.py wp update
ngk0 Apr 11, 2024
5e8c1fa
Update carcontroller.py
ngk0 Apr 11, 2024
c4e6ebf
Reverting WP Test Changes to CarController
ngk0 Apr 11, 2024
a729e85
Reverting WP Changes to Interface
ngk0 Apr 11, 2024
4654803
WP Testing
ngk0 Apr 11, 2024
ca2f677
Revert WP Testing Edits, Branched WP Testing into cherokee_kl_wp
ngk0 Apr 11, 2024
7cb5552
Updated Lateral Tuning kf and minActuatorDelay
ngk0 Apr 22, 2024
3d9990c
Update launch_chffrplus.sh
ngk0 Apr 28, 2024
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2 changes: 1 addition & 1 deletion launch_chffrplus.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ function launch {
if [ ! -f $DIR/prebuilt ]; then
./build.py
fi
./manager.py
./manager.py > /tmp/log-$(date -Iseconds)

# if broken, keep on screen error
while true; do sleep 1; done
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12 changes: 9 additions & 3 deletions selfdrive/car/chrysler/interface.py
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Expand Up @@ -53,9 +53,15 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.mass = 1747
ret.wheelbase = 2.70
ret.steerRatio = 17 # TODO: verify against params learner
ret.minSteerSpeed = 18.5 # TODO: conservative, need to test
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
ret.minSteerSpeed = 18.5 # 19' Cherokee KL Tested, Works
ret.steerActuatorDelay = 0.15 # Down from 0.2, 19' Cherokee KL Tested, Works well
#19' Cherokee KL Tested, Works - Enabling PID-based lateral tuning
#Disable with intent to enable Lateral PID Tuning with same parameters as other Chryslers
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.0002 #Up from 0.00006, 19' Cherokee KL Tested, Works well
#CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)

elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
ret.mass = 1778
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4 changes: 2 additions & 2 deletions selfdrive/car/chrysler/values.py
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Expand Up @@ -12,7 +12,7 @@


class ChryslerFlags(IntFlag):
HIGHER_MIN_STEERING_SPEED = 1
HIGHER_MIN_STEERING_SPEED = 0 #Disabling for 19' Cherokee Kl testing. Spent some time testing asymmetic speed settings, was not productive.


class CAR(StrEnum):
Expand Down Expand Up @@ -54,7 +54,7 @@ def __init__(self, CP):
elif CP.carFingerprint in CUSW_CARS:
self.STEER_DELTA_UP = 4
self.STEER_DELTA_DOWN = 4
self.STEER_MAX = 250 # TODO: re-validate this, Panda is at 261
self.STEER_MAX = 250 # TODO: re-validate this, Panda is at 261, 19 Cherokee KL faults at 261. eps or panda?
else:
self.STEER_DELTA_UP = 3
self.STEER_DELTA_DOWN = 3
Expand Down