[controlsd] Toyota Rav4 TSS2 bugfix (#26421)

bugfix toyota rav4 pid init values
2 years ago · c64e2c228a
parent fc872271ae
commit c64e2c228a
1 changed files with 2 additions and 0 deletions
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -111,6 +111,8 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.7933
      ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
      ret.lateralTuning.init('pid')
+      ret.lateralTuning.pid.kiBP = [0.0]
+      ret.lateralTuning.pid.kpBP = [0.0]
      ret.lateralTuning.pid.kpV = [0.6]
      ret.lateralTuning.pid.kiV = [0.1]
      ret.lateralTuning.pid.kf = 0.00007818594