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Toyota LTA: set actuator delay (#28722)

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* higher actuator delay and raise steer limit timer

* add comment
This commit is contained in:
Shane Smiskol
2023-06-27 18:27:29 -07:00
committed by GitHub
parent 1e9f794abe
commit 8bf5364b56
1 changed files with 7 additions and 2 deletions
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selfdrive/car/toyota/interface.py
+7 -2
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@@ -30,11 +30,16 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = True
ret.steerControlType = SteerControlType.angle
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
# LTA control can be more delayed and winds up more often
ret.steerActuatorDelay = 0.25
ret.steerLimitTimer = 0.8
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False