From 66231d85de1f894ceb1acc03085c44f16b5911d1 Mon Sep 17 00:00:00 2001
From: Vivek Aithal <vivekaithal44@gmail.com>
Date: Wed, 9 Nov 2022 12:09:55 -0800
Subject: [PATCH] [controlsd] Toyota Rav4 TSS2 bugfix (#26421)

bugfix toyota rav4 pid init values
old-commit-hash: c64e2c228a57dd82685f9ca4251c49e953e1ac69
---
 selfdrive/car/toyota/interface.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6c360fc2c7..3f4edb36d2 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -111,6 +111,8 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
       ret.lateralTuning.init('pid')
+      ret.lateralTuning.pid.kiBP = [0.0]
+      ret.lateralTuning.pid.kpBP = [0.0]
       ret.lateralTuning.pid.kpV = [0.6]
       ret.lateralTuning.pid.kiV = [0.1]
       ret.lateralTuning.pid.kf = 0.00007818594