Merge pull request commaai#155 from commaai/devel

Improve Toyota Highlander tuning
TDIPWR · Jul 13, 2019 · 8ea26c5 · 8ea26c5
2 parents 2a0415b + 13bdfcd
commit 8ea26c5
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -130,10 +130,10 @@ def get_params(candidate, fingerprint, vin=""):
       ret.safetyParam = 73
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.444  # not optimized yet
+      tire_stiffness_factor = 0.8
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
+      ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
     elif candidate == CAR.AVALON:
       stop_and_go = False