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Camry TSS2: use torque controller (#24268)

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* use measurements from harald

* update from table

* average of hybrid and non-hybrid
This commit is contained in:
Shane Smiskol
2022-05-07 21:34:17 -07:00
committed by GitHub
parent ba89faa5f7
commit 191fbd4f67
1 changed files with 4 additions and 1 deletions
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selfdrive/car/toyota/interface.py
+4 -1
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@@ -87,7 +87,10 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05)
else:
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True