Merge pull request commaai#108 from CT921/patch-1

Update interface.py
killinen · Sep 27, 2021 · 460890b · 460890b
2 parents c251874 + afb530e
commit 460890b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -324,7 +324,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       tire_stiffness_factor = 0.5533
       ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
-      ret.lateralTuning.pid.kf = 0.0000
+      ret.lateralTuning.pid.kf = 0.00006
 
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44