raise limits a bit

3 years ago · ef0b26369d
parent d0a55281e6
commit ef0b26369d
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -23,7 +23,7 @@ class CarControllerParams:

  # stock LTA is 0 to 0.05 going straight
  # and 0.1 to 0.4 when turning (max seen is 0.6303)
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2.5, 1.5, 0.5])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2.5, 1.5, 1.5])
  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2.5, 2.5, 1.5])

  # needs to be within +-3 degrees of current angle to avoid windup