From 839bec09aaa365f53479a9d3e35d41aad93a0543 Mon Sep 17 00:00:00 2001 From: luoqi06 Date: Fri, 2 Nov 2018 16:40:54 -0700 Subject: [PATCH] Canbus & Common : Add vehicle configs --- .../canbus/conf/canbus_conf_transit.pb.txt | 15 ++++++++++++++ modules/common/data/transit_config.pb.txt | 20 +++++++++++++++++++ 2 files changed, 35 insertions(+) create mode 100644 modules/canbus/conf/canbus_conf_transit.pb.txt create mode 100644 modules/common/data/transit_config.pb.txt diff --git a/modules/canbus/conf/canbus_conf_transit.pb.txt b/modules/canbus/conf/canbus_conf_transit.pb.txt new file mode 100644 index 0000000000..c84c7e3b89 --- /dev/null +++ b/modules/canbus/conf/canbus_conf_transit.pb.txt @@ -0,0 +1,15 @@ +vehicle_parameter { + brand: GEM + max_enable_fail_attempt: 5 + driving_mode: COMPLETE_AUTO_DRIVE +} + +can_card_parameter { + brand: HERMES_CAN + type: PCI_CARD + channel_id: CHANNEL_ID_ZERO +} + +enable_debug_mode: false +enable_receiver_log: false +enable_sender_log: false diff --git a/modules/common/data/transit_config.pb.txt b/modules/common/data/transit_config.pb.txt new file mode 100644 index 0000000000..488c821ac4 --- /dev/null +++ b/modules/common/data/transit_config.pb.txt @@ -0,0 +1,20 @@ +vehicle_param { + front_edge_to_center: 3.91 + back_edge_to_center: 1.09 + left_edge_to_center: 0.95 + right_edge_to_center: 0.95 + + length: 5.00 + width: 1.90 + height: 1.72 + min_turn_radius: 5.26 + max_acceleration: 1.18 + max_deceleration: -4.5 + max_steer_angle: 8.75 + max_steer_angle_rate: 10 + min_steer_angle_rate: 0 + steer_ratio: 14.8 + wheel_base: 2.79 + wheel_rolling_radius: 0.275 + max_abs_speed_when_stopped: 0.15 +} -- GitLab