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stay up to date #182

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merged 3 commits into from
Apr 4, 2021
Merged

stay up to date #182

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d95c1e2
Increase RAV4 steering ratio by 2.5%
arne182 Mar 30, 2021
475cb9c
try birdmans tune once again.
rav4kumar Mar 30, 2021
51621c7
decrease rav4h steering ratio by 5%
arne182 Apr 3, 2021
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11 changes: 7 additions & 4 deletions selfdrive/car/toyota/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,9 +83,12 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
if prius_pid:
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kfV = [0.00007818594]
#ret.lateralTuning.pid.newKfTuned = False
ret.lateralTuning.pid.kpBP = [0.0]
ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpV = [0.036]
ret.lateralTuning.pid.kiV = [0.0012]
ret.lateralTuning.pid.kf = 0.000153263811757641
ret.lateralTuning.pid.newKfTuned = True
else:
ret.steerActuatorDelay = 0.6
ret.steerRateCost = 0.45 #0.45
Expand Down Expand Up @@ -113,7 +116,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 13.88 # 14.5 is spec end-to-end
ret.steerRatio = 13.7 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if ret.enableGasInterceptor:
Expand Down