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TSS-P Corolla: use torque lateral control (#24291)

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use torque controller for tssp corolla

Co-authored-by: ntegan <nick.egan.gg>
This commit is contained in:
ntegan1
2022-05-27 18:11:16 -04:00
committed by GitHub
parent 2c2e0ae8a7
commit 7115f1f7c8
1 changed files with 1 additions and 1 deletions
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selfdrive/car/toyota/interface.py
+1 -1
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@@ -61,7 +61,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.8, FRICTION=0.024)
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
stop_and_go = True