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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.

Assumptions:
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.

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

Solution:
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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