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Crosstrek Hybrid 23 Tuning #135

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Crosstrek Hybrid 23 Tuning #135

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be059c9
subaru crosstrek hybrid 2023 fingerprint
Nlorio Dec 21, 2023
aa14d60
update steerRatio
Nlorio Dec 22, 2023
f95d856
lateral tuning for crosstrek 23
Nlorio Dec 22, 2023
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12 changes: 8 additions & 4 deletions selfdrive/car/subaru/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,11 +78,15 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerRatio = 13 # 17 learned, 14 stock
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
# Lateral Tuning for Crosstrek 23
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20., 30.], [0., 10., 20., 30.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2, 0.21], [0.0010, 0.004, 0.008, 0.009]]
#ret.lateralTuning.pid.kf = 0.00005
#ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
#ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]

elif candidate in (CAR.FORESTER, CAR.FORESTER_2020H, CAR.FORESTER_2022):
ret.mass = 1568. + STD_CARGO_KG
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2 changes: 2 additions & 0 deletions selfdrive/car/subaru/values.py
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Expand Up @@ -325,6 +325,7 @@ class SubaruCarInfo(CarInfo):
(Ecu.eps, 0x746, None): [
b'\x9a\xc2\x01\x00',
b'\n\xc2\x01\x00',
b'\n\xc2\x01\x01',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00el\x1f@ #',
Expand All @@ -335,6 +336,7 @@ class SubaruCarInfo(CarInfo):
b'\xd7!`p\a',
b'\xe9\xf5B0\x00',
b'\xf4!`0\x07',
b'\xf5!`0\x07',
],
},
CAR.FORESTER: {
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