Merge pull request commaai#21 from roxasthenobody98/retropilot-transit

Merge Retropilot-Transit Initial commits.
incognitojam · May 29, 2021 · 69cc34b · 69cc34b
2 parents f4ea393 + 547b215
commit 69cc34b
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Showing 4 changed files with 38 additions and 6 deletions.
diff --git a/common/api/__init__.py b/common/api/__init__.py
@@ -34,7 +34,7 @@ def get_token(self):
 
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  backend = "https://api.commadotai.com/"
+  backend = "https://api.retropilot.org/"
 
   headers = {}
   if access_token is not None:

diff --git a/common/op_params.py b/common/op_params.py
@@ -65,13 +65,13 @@ def __init__(self):
                         'alca_min_speed': Param(20, VT.number, 'Speed limit to start ALC in MPH'),
                         'alca_nudge_required': Param(False, bool, "Require nudge to start ALC"),
                         'apaAcknowledge': Param(False, bool, "acknowledge the safety constraints and limitations"),
-                        'athenaAllowed': Param(False, bool, "Enable Comma Athena. Not recommended. Comma get access to everything on your device."),
+                        'athenaAllowed': Param(True, bool, "Enable Comma Athena. Not recommended. Comma get access to everything on your device."),
                         'autoUpdate': Param(True, bool, 'Whether to auto-update'),
                         'camera_offset': Param(0.06, VT.number, 'Your camera offset to use in lane_planner.py', live=True),
                         'cloak': Param(False, bool, "make comma believe you are on their fork"),
                         'supercloak': Param(False, bool, "give comma a fake dongle ID, sparing your old one. Still carries a risk of your device being banned."),
                         'supercloak_reregister': Param(False, bool, "dump your supercloak Dongle ID if it gets banned"),
-                        'uploadsAllowed': Param(False, bool, "Allow uploads to Comma. Not recommended. If you are not cloaked and supercloaked, you risk your device being banned."),
+                        'uploadsAllowed': Param(True, bool, "Allow uploads to Comma. Not recommended. If you are not cloaked and supercloaked, you risk your device being banned."),
                         #'use_car_caching': Param(True, bool, 'Whether to use fingerprint caching'),
                         }
 

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
@@ -43,6 +43,24 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pyl
       ret.steerRateCost = 1.0
       ret.centerToFront = ret.wheelbase * 0.44
       tire_stiffness_factor = 0.5328
+    elif candidate == CAR.TRANSIT:
+      ret.wheelbase = 3.04
+      ret.steerRatio = 14.8
+      ret.mass = 3900. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGainBP = [0.]
+      ret.lateralTuning.indi.innerLoopGainV = [4.0]
+      ret.lateralTuning.indi.outerLoopGainBP = [0.]
+      ret.lateralTuning.indi.outerLoopGainV = [3.5]
+      ret.lateralTuning.indi.timeConstantBP = [0.]
+      ret.lateralTuning.indi.timeConstantV = [2.0]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
+      ret.steerActuatorDelay = 0.3
+      ret.steerLimitTimer = 0.8
+      ret.steerRateCost = 1.0
+      ret.centerToFront = ret.wheelbase * 0.44
+      tire_stiffness_factor = 0.5328
     elif candidate in [CAR.FUSION, CAR.FUSIONSG, CAR.MONDEO]:
       ret.wheelbase = 2.85
       ret.steerRatio = 14.8

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
@@ -6,7 +6,7 @@
 
 class CarControllerParams: 
   ANGLE_MAX_BP = [0., 11., 36.]
-  ANGLE_MAX_V = [410., 25., 15.]
+  ANGLE_MAX_V = [410., 35., 15.]
   ANGLE_DELTA_BP = [0., 5., 15.]
   ANGLE_DELTA_V = [5., .8, .15]     #windup
   ANGLE_DELTA_VU = [5., 3.5, 0.4] #unwind
@@ -129,6 +129,20 @@ class CAR:
     (Ecu.srs, 0x737, None): [
       b'GR3T-14C028-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
     ],
+  }, 
+  CAR.TRANSIT: {
+    (Ecu.eps, 0x730, None): [
+      b'HV6T-14C217-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+    ], 
+    (Ecu.srs, 0x737, None): [
+      b'DT1T-14C028-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'DV61-14C036-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'DV6A-14C204-CG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+    ],
   }
 }
 #FEATURES = {
@@ -149,7 +163,7 @@ class CAR:
   #CAR.TAURUS:
   #CAR.FLEX: 
   #CAR.FOCUS: 
-  #CAR.TRANSIT: 
+  CAR.TRANSIT: 1.,
   #CAR.AVIATOR: 
   #CAR.CONTINENTAL: 
   #CAR.CORSAIR: 
@@ -177,7 +191,7 @@ class CAR:
   #CAR.TAURUS: dbc_dict('placeholder', 'placeholder'),
   #CAR.FLEX: dbc_dict('placeholder', 'placeholder'),
   #CAR.FOCUS: dbc_dict('placeholder', 'placeholder'),
-  #CAR.TRANSIT: dbc_dict('placeholder', 'placeholder'),
+  CAR.TRANSIT: dbc_dict('ford_lincoln_base_pt', None),
   #Lincoln
   #CAR.AVIATOR: dbc_dict('placeholder', 'placeholder'),
   #CAR.CONTINENTAL: dbc_dict('placeholder', 'placeholder'),