Prius Prime differentiated from Prius #294

ErichMoraga · 2018-07-15T01:12:29Z

The need to treat the Prime separately from the Prius has become increasingly evident. I've tested this code (3 files changed) with several users (various makes/models) successfully.

By popular demand, as Primes have different characteristics.

By popular demand, as Primes have different characteristics. For Prime-specific mods, I used this... ret.steerRatio = 15.00 # unknown end-to-end spec tire_stiffness_factor = 0.6371 ret.mass = 3370 * CV.LB_TO_KG + std_cargo That was because I realized the effective tire stiffness was a product of the above value, as well as tireStiffnessFront_civic & tireStiffnessRear_civic, so I did some math... 0.4.7.2 Comma values tireStiffnessFront_civic = 85400*1.43353663=122424.028202 tireStiffnessRear_civic = 90000*1.43353663=129018.2967 0.5.0 Comma values tireStiffnessFront_civic = 192150*0.7933=152432.595 tireStiffnessRear_civic = 202500*0.7933=160643.25 To determine what the new tire_stiffness_factor is, divide the old effective value by the new tireStiffness*... 122424.028202/192150=0.6371273911111111 129018.2967/202500=0.6371273911111111 Prime should drive the same as it did in 0.4.7.2.

rbiasini · 2018-07-16T07:00:35Z

Changes look good. I only recommend to change CAR.PRIME into CAR.PRIUS_PRIME
However, before merging these changes I would need some evidence (or at least be able to verify it) that the 2 car models behave differently. Can you PM on slack the list of dongle ids you tested?

ErichMoraga · 2018-07-16T16:57:34Z

I've PM'd you my Dongle ID, and put out an alert/request in #toyota for others to PM you too. I also agree w/ the "CAR.PRIME into CAR.PRIUS_PRIME" suggestion.

Per Rick Biasini's suggestion.

ErichMoraga

Changed CAR.PRIME to CAR.PRIUS_PRIME

rbiasini · 2018-07-16T22:59:37Z

build failed @ErichMoraga

rbiasini · 2018-07-16T23:14:53Z

selfdrive/car/toyota/values.py

@@ -2,6 +2,7 @@

 class CAR:
  PRIUS = "TOYOTA PRIUS 2017"
+  PRIME = "TOYOTA PRIUS PRIME 2017"


change to PRIUS_PRIME

Oh duh! Getting on it...

Forgot to add "PRIUS_" to this one earlier.

ghost · 2018-07-17T18:15:50Z

Thank you !

ghost · 2018-07-17T18:25:29Z

I feel like we should compare notes on steering ration, steer strengths and other tuning params. Passing down to everyone with a Prime the best tune to date. On that note things can only get better !

pianohawk · 2018-07-20T02:27:51Z

I have a 2017 Prius Prime and am interested in helping anyway I can. Is openpilot ready for this vehicle?

andy867 · 2018-07-20T02:42:53Z

@pianohawk Most definitely. @erich Moraga and @larryjustin have been working hard to get the prime to be one of the most supported vehicles for openpilot.

pianohawk · 2018-07-20T03:05:32Z

OMG!!!! If I order the hardware, I can run it as soon as it arrives?

mtourangeau · 2018-07-20T03:36:29Z

https://community.comma.ai/wiki/index.php/Installing_OpenPilot_on_the_EON

Remember to set the jumper correctly. That will be your major problem.

ret.steerKpV, ret.steerKiV = [[0.5], [0.02]] ret.steerKf = 0.00007 # full torque for 10 deg at 80mph means 0.00007818594

ret.steerKpV, ret.steerKiV = [[0.45], [0.015]] ret.steerKf = 0.000065 # full torque for 10 deg at 80mph means 0.00007818594

Also, there was no steerActuatorDelay change.

1. Comma UI 2. Comma fan thresholds 3. ret.steerRatio = 15.00 # unknown end-to-end spec [ala devel] 4. tire_stiffness_factor = 0.6371 [ala devel]

ret.steerActuatorDelay = 0.43

energee · 2018-07-23T23:05:55Z

selfdrive/car/toyota/interface.py

@@ -91,7 +91,7 @@ def get_params(candidate, fingerprint):
      ret.steerKpV, ret.steerKiV = [[0.45], [0.015]]
      ret.steerKf = 0.0000675   # full torque for 10 deg at 80mph means 0.00007818594
      # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
-      ret.steerActuatorDelay = 0.40
+      ret.steerActuatorDelay = 0.43


Damn, that thing is slow as fuck :) I think @pd0wm has a way to measure exact delay

Doing a lot of tests, so not necessarily a final value.

mtourangeau · 2018-07-24T16:14:41Z

I’m testing those values and it’s much better. We can almost close #300.

30c7ca8 bump version to 1.5.3 9403dbe Need to fix wifi test before re-enabling. 0812362 GPS UART fix until boardd is refactored (#294) ffbdb87 python2 -> 3 fixes to pedal flasher (#292) 78b75ef Added build type to release version strings 736c2cb Fixed sending of bytes over PandaSerial 0894b28 Fixed USB power mode on black (#291) 4b3358c patch to be able to switch from EON to PC with a Panda that has EON b… (#290) a95c44a Made setting of NOOUTPUT on no heartbeat more efficient (#287) 9486836 UART instability fix with high interrupt load (#283) 9a9e9d4 Fix usb_power_mode missing initialization (#289) af0960a DFU fix (#288) 70219d7 match safety enum in cereal (#285) a338d39 Fix build for jenkins test 78ef4a6 Stop charge (#284) 5266a40 Fix typo (#286) f4787ec Revert "turn on CDP when ignition switches on (#281)" d37daee Revert "NONE and CLIENT should be the same thing in white/grey pandas" e97b283 NONE and CLIENT should be the same thing in white/grey pandas 8c1df55 turn on CDP when ignition switches on (#281) 847a35d Fix bullet points fac0277 Misra update (#280) 5a04df6 Added description of regression tests to README c4aabae Fixed some python3 bugs in the test scripts and PandaSerial 9af0cb3 Bump version c4ac3d6 Disable GPS load switching on black pandas 078ee58 This is the correct table, actually 578b95e Misra table of coverage added d383a26 bump panda b98ca01 fix sdk build in python3 env (#279) 63d3dc7 Set python3 env before runnign get_sdk, so we know if it fails e951d79 legacy code we don't control can remain python2 11b7151 Merge pull request #276 from commaai/python3 9893a84 Merge pull request #277 from zorrobyte/patch-1 d326869 Revert "revert back esptool to python2 and force to build esptools with python2" 875e760 revert back esptool to python2 and force to build esptools with python2 9c40e62 needed to install python3 ed2ac87 Also moved safety tests to python3 6842b2d move esptool sdk installation before python3 env is set. Kind of a cheat b5a2cab this hopefully fixes build test 6280509 Fixes safety replay 2c220b6 this fixes language regr test fdbe789 use python 3 in Docker container ee1ae4f Better hash print 0de9ef7 Revert "Final 2to3 on the whole repo" c92fd3b Final 2to3 on the whole repo 5f2bc44 better b2a30fd make works! b74005d fix sign.py fe72770 read file as byte and no tab before sleep 32a344ef6 Update README.md 2dc3409 2to3 applied ffa68ef undo unnecessary brackets for print dbc2480 Fix all the prints with 2to3, some need to be undo 5a7aeba xrange is gone 982c4c9 one more python3 env 1e2412a env python -> env python3 git-subtree-dir: panda git-subtree-split: 30c7ca8

30c7ca8 bump version to 1.5.3 9403dbe Need to fix wifi test before re-enabling. 0812362 GPS UART fix until boardd is refactored (commaai#294) ffbdb87 python2 -> 3 fixes to pedal flasher (commaai#292) 78b75ef Added build type to release version strings 736c2cb Fixed sending of bytes over PandaSerial 0894b28 Fixed USB power mode on black (commaai#291) 4b3358c patch to be able to switch from EON to PC with a Panda that has EON b… (commaai#290) a95c44a Made setting of NOOUTPUT on no heartbeat more efficient (commaai#287) 9486836 UART instability fix with high interrupt load (commaai#283) 9a9e9d4 Fix usb_power_mode missing initialization (commaai#289) af0960a DFU fix (commaai#288) 70219d7 match safety enum in cereal (commaai#285) a338d39 Fix build for jenkins test 78ef4a6 Stop charge (commaai#284) 5266a40 Fix typo (commaai#286) f4787ec Revert "turn on CDP when ignition switches on (commaai#281)" d37daee Revert "NONE and CLIENT should be the same thing in white/grey pandas" e97b283 NONE and CLIENT should be the same thing in white/grey pandas 8c1df55 turn on CDP when ignition switches on (commaai#281) 847a35d Fix bullet points fac0277 Misra update (commaai#280) 5a04df6 Added description of regression tests to README c4aabae Fixed some python3 bugs in the test scripts and PandaSerial 9af0cb3 Bump version c4ac3d6 Disable GPS load switching on black pandas 078ee58 This is the correct table, actually 578b95e Misra table of coverage added d383a26 bump panda b98ca01 fix sdk build in python3 env (commaai#279) 63d3dc7 Set python3 env before runnign get_sdk, so we know if it fails e951d79 legacy code we don't control can remain python2 11b7151 Merge pull request commaai#276 from commaai/python3 9893a84 Merge pull request commaai#277 from zorrobyte/patch-1 d326869 Revert "revert back esptool to python2 and force to build esptools with python2" 875e760 revert back esptool to python2 and force to build esptools with python2 9c40e62 needed to install python3 ed2ac87 Also moved safety tests to python3 6842b2d move esptool sdk installation before python3 env is set. Kind of a cheat b5a2cab this hopefully fixes build test 6280509 Fixes safety replay 2c220b6 this fixes language regr test fdbe789 use python 3 in Docker container ee1ae4f Better hash print 0de9ef7 Revert "Final 2to3 on the whole repo" c92fd3b Final 2to3 on the whole repo 5f2bc44 better b2a30fd make works! b74005d fix sign.py fe72770 read file as byte and no tab before sleep 32a344ef6 Update README.md 2dc3409 2to3 applied ffa68ef undo unnecessary brackets for print dbc2480 Fix all the prints with 2to3, some need to be undo 5a7aeba xrange is gone 982c4c9 one more python3 env 1e2412a env python -> env python3 git-subtree-dir: panda git-subtree-split: 30c7ca8

* Temporary GPS fix * spaces

ErichMoraga added 3 commits July 14, 2018 20:07

Separated Prius Prime from Prius.

e5e35e4

By popular demand, as Primes have different characteristics.

Separated Prius Prime from Prius.

191e510

By popular demand, as Primes have different characteristics.

ErichMoraga added 3 commits July 16, 2018 12:02

Changed CAR.PRIME to CAR.PRIUS_PRIME

75c0a2e

Per Rick Biasini's suggestion.

Changed CAR.PRIME to CAR.PRIUS_PRIME

f349ee1

Per Rick Biasini's suggestion.

Changed CAR.PRIME to CAR.PRIUS_PRIME

8c4e17e

Per Rick Biasini's suggestion.

ErichMoraga commented Jul 16, 2018

View reviewed changes

rbiasini reviewed Jul 16, 2018

View reviewed changes

PRIUS_PRIME = "TOYOTA PRIUS PRIME 2017" change

19ddc0e

Forgot to add "PRIUS_" to this one earlier.

ghost approved these changes Jul 17, 2018

View reviewed changes

ErichMoraga added 5 commits July 21, 2018 19:22

Small PID adjustments to make steering tighter

7f19a0c

ret.steerKpV, ret.steerKiV = [[0.5], [0.02]] ret.steerKf = 0.00007 # full torque for 10 deg at 80mph means 0.00007818594

Lessened prev. PID increase. Decreased steerActuatorDelay.

280840f

ret.steerKpV, ret.steerKiV = [[0.45], [0.015]] ret.steerKf = 0.000065 # full torque for 10 deg at 80mph means 0.00007818594

Added missing steerKf PID change from before.

a1ce25a

Also, there was no steerActuatorDelay change.

Parity w/ erichonly K values w/ 4 differences...

46c41fe

1. Comma UI 2. Comma fan thresholds 3. ret.steerRatio = 15.00 # unknown end-to-end spec [ala devel] 4. tire_stiffness_factor = 0.6371 [ala devel]

Slight steerActuatorDelay incr. to match erichonly

80d5d50

ret.steerActuatorDelay = 0.43

energee reviewed Jul 23, 2018

View reviewed changes

ErichMoraga closed this Oct 2, 2018

ErichMoraga deleted the priusprime branch October 2, 2018 03:02

Vaggysag pushed a commit to Vaggysag/openpilot that referenced this pull request Apr 21, 2020

GPS UART fix until boardd is refactored (commaai#294)

0812362

* Temporary GPS fix * spaces

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Prius Prime differentiated from Prius #294

Prius Prime differentiated from Prius #294

ErichMoraga commented Jul 15, 2018

rbiasini commented Jul 16, 2018

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andy867 commented Jul 20, 2018 via email

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mtourangeau commented Jul 20, 2018

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ErichMoraga Jul 24, 2018

mtourangeau commented Jul 24, 2018 •

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Prius Prime differentiated from Prius #294

Prius Prime differentiated from Prius #294

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