From 120414fe2e3b8c011b9ee97df43fc94ac49aa859 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 13:18:53 -0800 Subject: [PATCH] fix wind up issue after turns (or prolonged saturation) --- selfdrive/car/toyota/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index f749ece556..ad06a5a726 100644 --- 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