From 137f94b0647e0ed5f12803a7692c4474c25d3c07 Mon Sep 17 00:00:00 2001 From: Riccardo Date: Fri, 12 Jul 2019 19:24:35 -0700 Subject: [PATCH] Improve Toyota Highlander tuning from https://github.com/commaai/openpilot/pull/690 old-commit-hash: 13bdfcdd9560a7e01ffa16813114d3889b110574 --- selfdrive/car/toyota/interface.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index a1cffae959..29abfeb846 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -130,10 +130,10 @@ class CarInterface(object): ret.safetyParam = 73 ret.wheelbase = 2.78 ret.steerRatio = 16.0 - tire_stiffness_factor = 0.444 # not optimized yet + tire_stiffness_factor = 0.8 ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] - ret.lateralTuning.pid.kf = 0.00006 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning + ret.lateralTuning.pid.kf = 0.00012 # community tuning elif candidate == CAR.AVALON: stop_and_go = False