fix wind up issue after turns (or prolonged saturation)

3 years ago · 120414fe2e
parent 3a7767bbff
commit 120414fe2e
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -228,7 +228,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP = [0.0]
      ret.lateralTuning.pid.kpBP = [0.0]
      ret.lateralTuning.pid.kpV = [1.0]
-      ret.lateralTuning.pid.kiV = [0.1]
+      ret.lateralTuning.pid.kiV = [0.0]  # this causes huge wind-ups after turns (70 degrees in integral!)
      ret.lateralTuning.pid.kf = 1.0

    # we can't use the fingerprint to detect this reliably, since