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Fix curb weight, steering ratio, wheelbase for RAV4 Prime #1353

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Fix curb weight, steering ratio, wheelbase for RAV4 Prime #1353

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c5a804c
Fix curb weight, steering ratio, wheelbase for RAV4 Prime
hdoublearp Oct 6, 2024
2a8c747
Add IDLE_COAST signal to PCM_CRUISE for SecOC cars
hdoublearp Oct 6, 2024
e09ad1c
Merge pull request #1 from hdoublearp/secoc-updates
hdoublearp Oct 6, 2024
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2 changes: 1 addition & 1 deletion opendbc/car/toyota/values.py
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Expand Up @@ -252,7 +252,7 @@ class CAR(Platforms):
# TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md
# [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
[],
CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.6899, steerRatio=14.4, tireStiffnessFactor=0.5533),
dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
)
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2 changes: 2 additions & 0 deletions opendbc/dbc/toyota_rav4_prime_generated.dbc
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Expand Up @@ -83,6 +83,7 @@ BO_ 353 DSU_SPEED: 7 XXX
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX

BO_ 374 PCM_CRUISE: 8 XXX
SG_ IDLE_COAST : 3|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_STATE : 31|4@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
Expand Down Expand Up @@ -355,6 +356,7 @@ BO_ 1592 DOOR_LOCKS: 8 XXX
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 305 STEER_ANGLE_CMD "Used in place of STEERING_LTA.STEER_ANGLE_CMD on SecOC cars";
CM_ SG_ 374 IDLE_COAST "No engine torque requirement from driver or ACC on SecOC cars";
CM_ SG_ 387 ACCEL_CMD "Used in place of ACC_CONTROL.ACCEL_CMD on SecOC cars";
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist";
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