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Improve Toyota Highlander tuning from https://github.com/commaai/openpilot/pull/690

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Riccardo
2019-07-12 19:24:35 -07:00
parent d7878df3da
commit a94ef2cacd
1 changed files with 3 additions and 3 deletions
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selfdrive/car/toyota/interface.py
+3 -3
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@@ -130,10 +130,10 @@ class CarInterface(object):
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444 # not optimized yet
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False