From be1165df5abcfa389fe58c805ee158dd02e729e2 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Wed, 11 Mar 2020 11:20:19 +1000 Subject: [PATCH] allow higher error tolerance when dealing with steering torque in toyota. --- panda/board/safety/safety_toyota.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index 9b06a7cd0..fa0848a04 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -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