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update rav4h_tss2 tune (#1260)

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* update rav4h_tss2 tune

reduce pid gains for rav4h_tss2 to reduce ping pong at local speed and big turn

* update tuning for rav4_tss2 in additional to rav4h_tss2
pull/1298/head
yufeng66 5 years ago committed by GitHub
parent 9c16ad8e18
commit ba1e79d0ea
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 4 deletions
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  1. 8
      selfdrive/car/toyota/interface.py

8
selfdrive/car/toyota/interface.py
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@ -157,9 +157,9 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.68986 ret.wheelbase = 2.68986
ret.steerRatio = 14.3 ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933 tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594 ret.lateralTuning.pid.kf = 0.00004
elif candidate == CAR.RAV4H_TSS2: elif candidate == CAR.RAV4H_TSS2:
stop_and_go = True stop_and_go = True
@ -167,9 +167,9 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.68986 ret.wheelbase = 2.68986
ret.steerRatio = 14.3 ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933 tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594 ret.lateralTuning.pid.kf = 0.00004
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True stop_and_go = True

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