From 70c8bc4cd32fe69bac2441420a61628f0d5b222e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 7 May 2022 21:34:17 -0700 Subject: [PATCH] Camry TSS2: use torque controller (#24268) * use measurements from harald * update from table * average of hybrid and non-hybrid old-commit-hash: 191fbd4f67e7f878b518effd14411779b9435339 --- selfdrive/car/toyota/interface.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 433058b3c0..559307ef2d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -87,7 +87,10 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) + if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05) + else: + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True