match lexus IS for now

commaai · Nov 19, 2021 · d8c5be4 · d8c5be4
1 parent 84f416a
commit d8c5be4
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Showing 3 changed files with 13 additions and 4 deletions.
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
@@ -113,7 +113,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler
       lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present do ACC can be engaged
 
       # Lexus IS uses a different cancellation message
-      if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
+      if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif CS.CP.openpilotLongitudinalControl:
         can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -79,7 +79,7 @@ def update(self, cp, cp_cam):
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
     ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
 
-    if self.CP.carFingerprint == CAR.LEXUS_IS:
+    if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
     else:
@@ -93,7 +93,7 @@ def update(self, cp, cp_cam):
     # these cars are identified by an ACC_TYPE value of 2.
     # TODO: it is possible to avoid the lockout and gain stop and go if you
     # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
-    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint != CAR.LEXUS_IS) or \
+    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in [CAR.LEXUS_IS, CAR.LEXUS_RC]) or \
        (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
 
@@ -168,7 +168,7 @@ def get_can_parser(CP):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.carFingerprint == CAR.LEXUS_IS:
+    if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
       signals.append(("MAIN_ON", "DSU_CRUISE", 0))
       signals.append(("SET_SPEED", "DSU_CRUISE", 0))
       checks.append(("DSU_CRUISE", 5))

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -186,6 +186,15 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
 
+    elif candidate == CAR.LEXUS_RC:
+      ret.safetyConfigs[0].safetyParam = 77
+      stop_and_go = False
+      ret.wheelbase = 2.79908
+      ret.steerRatio = 13.3
+      tire_stiffness_factor = 0.444
+      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
+
     elif candidate == CAR.LEXUS_CTH:
       ret.safetyConfigs[0].safetyParam = 100
       stop_and_go = True