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pull/33208/head
Shane Smiskol 9 months ago
parent e8afc6ab56
commit e52fae0657
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/car/toyota/interface.py

4
selfdrive/car/toyota/interface.py
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@ -55,7 +55,7 @@ class CarInterface(CarInterfaceBase):
for fw in car_fw: for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
ret.steerActuatorDelay = 0.25 ret.steerActuatorDelay = 0.25
CarInterfaceBase.configure_torque_tune(candidate, ret, steering_angle_deadzone_deg=0.2) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
stop_and_go = True stop_and_go = True
@ -67,7 +67,7 @@ class CarInterface(CarInterfaceBase):
stop_and_go = candidate != CAR.TOYOTA_AVALON stop_and_go = candidate != CAR.TOYOTA_AVALON
elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023): elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
ret.lateralTuning = CarParams.LateralPIDTuning() ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0]
ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kpV = [0.6]

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