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Better steering for Camry and possibly C-HR too #654

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commented May 21, 2019

If anyone has a better idea on how to calibrate the exclusive angle sensor against the common one, feedback is appreciated! I've thrown in the dbc steering update for C-HR for easier testing, if it works, I'll add it to opendbc.

Old/common steer angle sensor is on the column, most affected by driver input.
New steer angle sensor is on the rack, most affected by the motor and road.

New steering angle does not hold a constant value between restarts if the steering wheel is not centered.

Set angle offset difference in the first two seconds of openpilot starting when the old steering angle has no movement and the car is at a standstill
Also added learned ratio and stiffness values

bugsy924 added some commits Mar 29, 2019

Merge pull request #27 from bugsy924/Camry-XSE
Fingerprint: Camry XSE
Add Camry Hybrid XLE fingerprint
Anthony's fingerprint

@bugsy924 bugsy924 closed this Jun 2, 2019

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