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[controlsd] Toyota Rav4 TSS2 bugfix (#26421)

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bugfix toyota rav4 pid init values
This commit is contained in:
Vivek Aithal
2022-11-09 12:09:55 -08:00
committed by GitHub
parent fc872271ae
commit c64e2c228a
1 changed files with 2 additions and 0 deletions
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selfdrive/car/toyota/interface.py
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@@ -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