From 02cffeb858223f2a924a611b6169d6b313e43514 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Jun 2022 09:29:28 -0700 Subject: [PATCH] Toyota Camry TSS2: update torque control params (#24819) Use updated accel and friction values for TSS2 Camry old-commit-hash: 566de12671f7fbf299306339c0ca901754f7f3ca --- 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 83eed611c3..53accecfe0 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -31,6 +31,7 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False + torque_params = CarInterfaceBase.get_torque_params(candidate) if candidate == CAR.PRIUS: stop_and_go = True @@ -91,8 +92,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): - ret.maxLateralAccel = 2.4 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05) + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) else: set_lat_tune(ret.lateralTuning, LatTunes.PID_C)