From 7115f1f7c8e43a4e97fcb7bfb51f84b45eaedc6f Mon Sep 17 00:00:00 2001 From: ntegan1 Date: Fri, 27 May 2022 18:11:16 -0400 Subject: [PATCH] TSS-P Corolla: use torque lateral control (#24291) use torque controller for tssp corolla Co-authored-by: ntegan --- 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 3d59102e43..1b577cc6b7 100644 --- 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