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[controlsd] Revert Rav4 TSS2 to PID control (#26403)

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* revert rav4 tss2 to pid control

* Update interface.py
This commit is contained in:
Vivek Aithal
2022-11-07 18:25:39 -08:00
committed by GitHub
parent f63f0de80a
commit a0edd05bb0
1 changed files with 13 additions and 0 deletions
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selfdrive/car/toyota/interface.py
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@@ -110,6 +110,19 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.1]
ret.lateralTuning.pid.kf = 0.00007818594
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV = [0.15]
ret.lateralTuning.pid.kiV = [0.05]
ret.lateralTuning.pid.kf = 0.00004
break
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
stop_and_go = True