reduce kp

3 years ago · a2fe57202f
parent 28aa01e3e8
commit a2fe57202f
1 changed files with 1 additions and 1 deletions
--- 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