From c47b646b844696bccc6c1a1da4f728f30abfaaa7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 25 Jul 2021 13:46:48 -0700 Subject: [PATCH] Revert lateral tuning change for some TSS2 Rav4 (#21715) --- 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 dd15432469..73aa1942e4 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -180,7 +180,7 @@ class CarInterface(CarInterfaceBase): # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: - if fw.ecu == "eps" and fw.fwVersion.startswith(b'\x02'): + if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]] ret.lateralTuning.pid.kf = 0.00004 break