try this

3 years ago · cfe6d55a17
parent 16f0e1ef36
commit cfe6d55a17
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -27,7 +27,7 @@ class CarControllerParams:
  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[3.5, 3.5, 0.4])

  # needs to be within +-3 degrees of current angle to avoid windup
-  ANGLE_DELTA_MAX = 3.0
+  ANGLE_DELTA_MAX = 15

  def __init__(self, CP):
    if CP.lateralTuning.which == 'torque':