From bf70f4636b82c82b5f3bdf6e8ae2bc299d253443 Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Wed, 22 May 2019 10:07:31 +1000 Subject: [PATCH] Update variable name --- selfdrive/car/toyota/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 42e3bdbe1..5872dbf7b 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -192,8 +192,8 @@ class CarInterface(object): ret.steerRatio = 13.3 # in spec tire_stiffness_factor = 0.444 # from camry ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg) - ret.steerKpV, ret.steerKiV = [[0.19], [0.04]] - ret.steerKf = 0.00006 # from camry + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]] + ret.lateralTuning.pid.kf = 0.00006 # from camry ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44