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Corolla hatch port #641

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commented May 14, 2019

sorry for the trojan horse porting, 2019 RAV 4 was a prerequisite to the Corolla hatch since they use the same radar. i'll submit a cabana for this car tomorrow! longitudinal and lateral tuning may also need to be done.

@rbiasini rbiasini referenced this pull request May 14, 2019

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2019 rav4 #520

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commented May 15, 2019

Nice. looks clean! @wocsor.
Some changes in carcontroller.py might be needed though. What about this message?

if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
  can_sends.append(create_fcw_command(self.packer, fcw))

On your port, this is both being forwarded and sent. I recommend changing panda so it's not forwarded.

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commented May 15, 2019

I'm wondering about the car's AEB kicking in without the system sending a FCW, but we can block it anyways since that won't stop the car from breaking if it needs to. it's nice that AEB remains completely intact with these cars

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commented May 15, 2019

updated panda to block 0x411 from camera. also, are these two ports eligible for the fingerprint bounty for store credit?

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commented May 15, 2019

definitely eligible for the micro-bounty! Once merged, these are 2.

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commented May 15, 2019

About FCW/AEB: ok, instead of blocking it in panda, I agree we should just bypass the creation of the message in carcontroller if fingerprint is in TSSP2 list.

wocsor added some commits May 15, 2019

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commented May 15, 2019

there we go, now TSSP2 should handle FCW and AEB instead of openpilot

@@ -270,7 +290,7 @@ def update(self, c):
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.

if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER] or self.CP.enableGasInterceptor:
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_2019, CAR.COROLLA_HATCH] or self.CP.enableGasInterceptor:

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@wocsor , are those new cars allowing stop and go without having to press resume?

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wocsor May 15, 2019

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they are, apparently both do

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commented May 15, 2019

Cool, merged this internally. Will be in next release. Thanks @wocsor !

@rbiasini rbiasini closed this May 15, 2019

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