Torque control: no car specific gains (#2851)

* deprecate unused gains

* remove long kf field assignment that makes hitl test fail

* fix test

---------

Co-authored-by: felsager <[email protected]>

Author: haraschax

opendbc/car/car.capnp

@@ -549,23 +549,23 @@ struct CarParams {
   }
 
   struct LateralTorqueTuning {
-    kp @1 :Float32;
-    ki @2 :Float32;
-    kd @8 : Float32;
     friction @3 :Float32;
-    kf @4 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
     useSteeringAngleDEPRECATED @0 :Bool;
+    kpDEPRECATED @1 :Float32;
+    kiDEPRECATED @2 :Float32;
+    kfDEPRECATED @4 :Float32;
+    kdDEPRECATED @8 : Float32;
   }
 
   struct LongitudinalPIDTuning {
     kpBP @0 :List(Float32);
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    kf @6 :Float32;
+    kfDEPRECATED @6 :Float32;
     deadzoneBPDEPRECATED @4 :List(Float32);
     deadzoneVDEPRECATED @5 :List(Float32);
   }

opendbc/car/interfaces.py

@@ -210,7 +210,6 @@ def get_std_params(candidate: str) -> structs.CarParams:
     ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
-    ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
@@ -225,10 +224,6 @@ def configure_torque_tune(candidate: str, tune: structs.CarParams.LateralTuning,
     params = get_torque_params()[candidate]
 
     tune.init('torque')
-    tune.torque.kf = 1.0
-    tune.torque.kp = 1.0
-    tune.torque.ki = 0.3
-    tune.torque.kd = 0.0
     tune.torque.friction = params['FRICTION']
     tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
     tune.torque.latAccelOffset = 0.0

opendbc/car/tests/test_car_interfaces.py

@@ -87,7 +87,7 @@ def test_car_interfaces(self, car_name, data):
           assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
 
       elif tune.which() == 'torque':
-        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
+        assert not math.isnan(tune.torque.latAccelFactor) and tune.torque.latAccelFactor > 0
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     # Run car interface