From c8696e4c8f3722891aeb8204f8ea853ee1e3f1cc Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 11 Jan 2022 18:06:28 +0000 Subject: [PATCH] Ford: remove ramp type param --- selfdrive/car/ford/carcontroller.py | 14 +------------- selfdrive/car/ford/fordcan.py | 10 +++++----- 2 files changed, 6 insertions(+), 18 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 59ffe2a0141b7ab..b4809ffb343db7a 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -6,8 +6,6 @@ from selfdrive.car.ford.values import CarControllerParams from opendbc.can.packer import CANPacker -DEBUG_RAMP_TYPE = False - VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -38,8 +36,6 @@ def __init__(self, dbc_name, CP, VM): self.steer_alert_last = False self.generic_toggle_last = False - self.ramp_type = 1 - def update(self, enabled, CS, frame, actuators, cruise_cancel, visual_alert): can_sends = [] main_on = CS.out.cruiseState.available @@ -57,14 +53,6 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, visual_alert): # cancel stock ACC can_sends.append(fordcan.spam_cancel_button(self.packer)) - if CS.out.genericToggle and not self.generic_toggle_last: - # ramp type experiment - if DEBUG_RAMP_TYPE: - # TODO: stock varies this with distance from center - self.ramp_type += 1 - if self.ramp_type > 3: - self.ramp_type = 0 - if (frame % self.params.LKAS_STEER_STEP) == 0: lca_rq = 1 if enabled else 0 apply_steer_rad = apply_steer * CV.DEG_TO_RAD @@ -74,7 +62,7 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, visual_alert): # send steering commands can_sends.append(fordcan.create_steer_command(self.packer, apply_steer, curvature)) - can_sends.append(fordcan.create_steer2_command(self.packer, lca_rq, self.ramp_type, apply_steer_rad, curvature)) + can_sends.append(fordcan.create_steer2_command(self.packer, lca_rq, apply_steer_rad, curvature)) # TODO: do we need to send when values change? is 1hz acceptable? if (frame % self.params.LKAS_UI_STEP) == 0 or (self.main_on_last != main_on) or (self.enabled_last != enabled) or \ diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index e17d14ea8c64183..beddf04a32798d5 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -14,15 +14,15 @@ def create_steer_command(packer, angle_deg: float, curvature: float): "LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3] "LkaActvStats_D2_Req": 0, # action [0|7] "LaRefAng_No_Req": angle_deg, # angle [-102.4|102.3] degrees - "LaRampType_B_Req": 0, # ramp type [0|1] + "LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick "LaCurvature_No_Calc": curvature, # curvature [-0.01024|0.01023] 1/meter "LdwActvStats_D_Req": 0, # LDW status [0|7] - "LdwActvIntns_D_Req": 0, # LDW intensity [0|3] + "LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength } return packer.make_can_msg("Lane_Assist_Data1", 0, values) -def create_steer2_command(packer, lca_rq: int, ramp_type: int, angle_rad: float, curvature: float): +def create_steer2_command(packer, lca_rq: int, angle_rad: float, curvature: float): """ Creates a CAN message for the Ford LCA Command. @@ -44,8 +44,8 @@ def create_steer2_command(packer, lca_rq: int, ramp_type: int, angle_rad: float, "LatCtlRng_L_Max": 0, # [0|126] meter "HandsOffCnfm_B_Rq": 0, # [0|1] "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=Continuous [0|7] - "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate - "LatCtlPrecision_D_Rq": 0, # Precision: 0=Comfortable, 1=Precise [0|3] + "LatCtlRampType_D_Rq": 3, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate + "LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise [0|3] "LatCtlPathOffst_L_Actl": 0, # Path offset [-5.12|5.11] meter "LatCtlPath_An_Actl": angle_rad, # Path angle [-0.5|0.5235] radians "LatCtlCurv_NoRate_Actl": 0, # Curvature rate [-0.001024|0.00102375] 1/meter