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* change steering torque to 1600

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This commit is contained in:
Rick Lan
2019-03-02 17:49:46 +10:00
parent 99ba8c8cc8
commit 5b8976af61
2 changed files with 2 additions and 2 deletions
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panda/board/safety/safety_toyota.h
+1 -1
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@@ -2,7 +2,7 @@ int toyota_giraffe_switch_1 = 0; // is giraffe switch 1 high?
int toyota_camera_forwarded = 0; // should we forward the camera bus?
// global torque limit
const int TOYOTA_MAX_TORQUE = 1500; // max torque cmd allowed ever
const int TOYOTA_MAX_TORQUE = 1600; // max torque cmd allowed ever
// rate based torque limit + stay within actually applied
// packet is sent at 100hz, so this limit is 1000/sec
selfdrive/car/toyota/carcontroller.py
+1 -1
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@@ -21,7 +21,7 @@ ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
# Steer torque limits
class SteerLimitParams:
STEER_MAX = 1500
STEER_MAX = 1600
STEER_DELTA_UP = 10 # 1.5s time to peak torque
STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor