Erm

can_up.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# Check if can0 is up
+# if ! ip link show up | grep -q can0; then
+echo "Bringing up can0..."
+
+# Load CAN related modules
+sudo modprobe can
+sleep 0.1
+sudo modprobe can_raw
+sleep 0.1
+# Set the bitrate for can0
+sudo ip link set can0 type can bitrate 500000
+sleep 0.5
+sudo ip link set up can0
+# Bring up can0 interfac
+echo "can0 setup complete."
+# else
+#     echo "can0 is already up."
+# fi

config/drivebrain_config.json

@@ -1,11 +1,11 @@
 {
     "CANDriverPrimary": {
-        "canbus_device": "vcan0",
-        "path_to_dbc": "./config/hytech.dbc"
+        "canbus_device": "can0",
+        "path_to_dbc": "config/hytech.dbc"
     },
     "CANDriverSecondary": {
         "canbus_device": "vcan1",
-        "path_to_dbc": "./config/hytech.dbc"
+        "path_to_dbc": "config/hytech.dbc"
     },
     "SimpleSpeedController": {
         "max_torque": 21.0,
@@ -94,63 +94,70 @@
         "in":2.0
     },
     "estimator_MatlabEstimModel": {
-        "steer_sensor_offset": 0.0,
-        "static_fz_N_fl": 0.0,
-        "static_fz_N_fr": 0.0,
-        "static_fz_N_rl": 0.0,
-        "static_fz_N_rr": 0.0,
-        "cgz_m": 0.0,
-        "fz_Q": 0.0,
-        "fz_R": 0.0,
-        "amk_eff_modifier": 0.0,
-        "vy_Q11": 0.0,
-        "wz_Q22": 0.0,
-        "vy_R11": 0.0,
-        "wz_R22": 0.0,
-        "process_noise_vx": 0.0,
-        "process_noise_yaw_rate": 0.0,
-        "process_noise_ax": 0.0,
-        "percent_wheel_diff_noise_gain": 0.0,
-        "accel_noise_coef": 0.0,
-        "yaw_rate_noise_coef": 0.0,
-        "ay_cap_m_s2": 0.0,
-        "des_Mz_gain": 0.0,
-        "drive_motor_torq_lim": 0.0,
-        "regen_motor_torq_lim": 0.0,
-        "elec_p_lim_kW": 0.0,
-        "motor_rpm_lim": 0.0,
-        "brake_deadzone": 0.0,
-        "accel_deadzone": 0.0,
-        "vel_saturation": 0.0,
-        "per_motor_elec_p_lim_kW": 0.0,
-        "use_steer_deadzone": false,
-        "use_intent_w_derate": false,
-        "amk_eff_modifier_fl":0.0,
-        "amk_eff_modifier_fr": 0.0,
-        "amk_eff_modifier_rl": 0.0,
-        "amk_eff_modifier_rr": 0.0,
-        "global_eff_modifier": 0.0
+        "steer_sensor_offset": 20.0,
+        "static_fz_N_fl": 420.0,
+        "static_fz_N_fr": 383.6,
+        "static_fz_N_rl": 281.0,
+        "static_fz_N_rr": 400.7,
+        "cgz_m": 0.27,
+        "fz_Q": 120.0,
+        "fz_R": 70.0,
+        "amk_eff_modifier": 0.92,
+        "vy_Q11": 10.0,
+        "wz_Q22": 1.0,
+        "vy_R11": 0.1,
+        "wz_R22": 0.01,
+        "process_noise_vx": 0.2,
+        "process_noise_yaw_rate": 0.2,
+        "process_noise_ax": 0.2,
+        "percent_wheel_diff_noise_gain": 1.0,
+        "accel_noise_coef": 0.1,
+        "yaw_rate_noise_coef": 0.07,
+        "ay_cap_m_s2": 23.0,
+        "des_Mz_gain": 1.0,
+        "drive_motor_torq_lim": 21.0,
+        "regen_motor_torq_lim": -15.0,
+        "elec_p_lim_kW": 80.0,
+        "motor_rpm_lim": 20000.0,
+        "brake_deadzone": 0.02,
+        "accel_deadzone": 0.02,
+        "vel_saturation": 35.0,
+        "per_motor_elec_p_lim_kW": 32.0,
+	    "use_steer_deadzone": true,
+	    "use_intent_w_derate": true,
+        "amk_eff_modifier_rr": 1.0,
+        "amk_eff_modifier_fl": 1.0,
+        "amk_eff_modifier_fr": 1.0,
+        "amk_eff_modifier_rl": 1.0,
+        "global_eff_modifier": 1.0
+
     },
     "qp_torq_allocator_MatlabModel": {
-        "mux": 0.0,
-        "high_axle_alpha": 0.0,
-        "high_axle_beta": 0.0,
-        "high_axle_lambda": 0.0,
-        "low_axle_alpha": 0.0,
-        "low_axle_beta": 0.0,
-        "low_axle_lambda": 0.0,
-        "k_opt": 0.0,
-        "torq_side_delta": 0.0,
-        "torq_long_delta": 0.0,
-        "w_starting": 0.0,
-        "w_ending": 0.0,
-        "coast_brake_torq": 0.0,
-        "estimator_intent_motor_rpm_lim": 0.0
-    }, 
+        "mux": 2.0,
+        "high_axle_alpha": 0.00125,
+        "high_axle_beta": 150000.0,
+        "high_axle_lambda": 2.0,
+        "low_axle_alpha": 0.00085,
+        "low_axle_beta": 1000000.0,
+        "low_axle_lambda": 7.0,
+        "k_opt": 0.1,
+        "torq_side_delta": 10.0,
+        "torq_long_delta": 15.0,
+        "w": 1.0,
+        "coast_brake_torq": -5.0,
+        "w_starting": 1.0,
+        "w_ending": 0.01,
+        "estimator_intent_motor_rpm_lim": 20000.0,
+        "w_derate_starting_kW_delta": 10.0,
+        "w_derate_ending_kW_delta": 5.0,
+        "use_qp_internal_torq_feedback": false,
+        "use_min_cell_derate": false
+    },
     "use_vectornav": false,
-    "use_fake_vn": true,
+    "use_fake_vn": false,
     "use_surrey_aero": false,
     "use_scale_comms": false,
-    "use_laptimer": true
+    "use_laptimer": false
+
+}
 
-}