From 97c5965c6503a1a5e0283bb059c587fdf1f4f7e4 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Thu, 12 Sep 2019 16:13:56 +1000 Subject: [PATCH] Add ISH into interface.py --- selfdrive/car/toyota/interface.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 457169c4d..503f0f7d2 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -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