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Revert lateral tuning change for some TSS2 Rav4 (#21715)

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old-commit-hash: c47b646b844696bccc6c1a1da4f728f30abfaaa7
This commit is contained in:
Adeeb Shihadeh
2021-07-25 13:46:48 -07:00
committed by GitHub
parent c20fac6207
commit f992ea8d81
1 changed files with 1 additions and 1 deletions
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selfdrive/car/toyota/interface.py
+1 -1
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@@ -180,7 +180,7 @@ class CarInterface(CarInterfaceBase):
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion.startswith(b'\x02'):
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
ret.lateralTuning.pid.kf = 0.00004
break