TSS-P Corolla: use torque lateral control (#24291)

use torque controller for tssp corolla Co-authored-by: ntegan <nick.egan.gg>
3 years ago · 7115f1f7c8
parent 2c2e0ae8a7
commit 7115f1f7c8
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -61,7 +61,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 18.27
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.8, FRICTION=0.024)

    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
      stop_and_go = True