From 5b8976af6195f5365ed34f8b2dc059681a3f745a Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Sat, 2 Mar 2019 17:49:46 +1000 Subject: [PATCH] * change steering torque to 1600 --- panda/board/safety/safety_toyota.h | 2 +- selfdrive/car/toyota/carcontroller.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index 50d457ab6..43dedcce4 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -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 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index cdd1bde51..7bdc82267 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -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