From a2fe57202f3c83f56b514cb96e45933c4345b4b0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Dec 2022 12:04:25 -0800 Subject: [PATCH] reduce kp --- 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 542204deb6..4fa4d9e5d6 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -227,7 +227,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0] - ret.lateralTuning.pid.kpV = [1.0] + ret.lateralTuning.pid.kpV = [0.2] ret.lateralTuning.pid.kiV = [0.0] # this causes huge wind-ups after turns (70 degrees in integral!) ret.lateralTuning.pid.kf = 1.0