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apply quillford's value again

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Rick Lan
2019-02-17 12:36:49 +10:00
parent 19660515b5
commit 7017f8ebf0
1 changed files with 1 additions and 1 deletions
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selfdrive/car/toyota/interface.py
+1 -1
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@@ -147,7 +147,7 @@ class CarInterface(object):
ret.steerRatio = 13.3 # in spec
tire_stiffness_factor = 0.444 # from camry
ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
ret.steerKpV, ret.steerKiV = [[0.19], [0.04]]
ret.steerKf = 0.00006 # from camry
ret.steerRateCost = 1.