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Add ISH into interface.py

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dragonpilot
2019-09-12 16:13:56 +10:00
parent b84cef9d95
commit 97c5965c65
1 changed files with 10 additions and 0 deletions
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selfdrive/car/toyota/interface.py
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@@ -219,6 +219,16 @@ class CarInterface(object):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_ISH:
stop_and_go = True # set to true because it's a hybrid
ret.safetyParam = 66
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44