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allow higher error tolerance when dealing with steering torque in toyota.

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dragonpilot
2020-03-11 11:20:19 +10:00
parent ae193f20ca
commit be1165df5a
1 changed files with 2 additions and 2 deletions
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panda/board/safety/safety_toyota.h
+2 -2
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@@ -4,8 +4,8 @@ const int TOYOTA_MAX_TORQUE = 1500; // max torque cmd allowed ever
// rate based torque limit + stay within actually applied
// packet is sent at 100hz, so this limit is 1000/sec
const int TOYOTA_MAX_RATE_UP = 10; // ramp up slow
const int TOYOTA_MAX_RATE_DOWN = 25; // ramp down fast
const int TOYOTA_MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
const int TOYOTA_MAX_RATE_DOWN = 44; // ramp down fast
const int TOYOTA_MAX_TORQUE_ERROR = 500; // max torque cmd in excess of torque motor
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec