mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-08-05 16:26:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

[controlsd] Toyota Rav4 TSS2 bugfix (#26421)

Browse Source 
bugfix toyota rav4 pid init values
old-commit-hash: c64e2c228a
This commit is contained in:
Vivek Aithal
2022-11-09 12:09:55 -08:00
committed by GitHub
parent ca2faafdb9
commit 66231d85de
1 changed files with 2 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/toyota/interface.py
+2
View File
@@ -111,6 +111,8 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0]
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.1]
ret.lateralTuning.pid.kf = 0.00007818594