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Smooth out Sienna tuning (#1292)

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Current Sienna tuning leads to pretty significant bouncing and oversteering, this change fixes it. Thanks to @Jax for finding some great values and checking with a Toyota mechanic on the real steer ratio for Siennas!
old-commit-hash: e0ba222336f28dcac0e43e17355eef334799bd7c
This commit is contained in:
vetmiker
2020-03-30 18:19:24 -05:00
committed by GitHub
parent 02ad0e743e
commit eb6cf6ffd9
1 changed files with 2 additions and 2 deletions
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selfdrive/car/toyota/interface.py
+2 -2
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@@ -195,10 +195,10 @@ class CarInterface(CarInterfaceBase):
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 16.0
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS: