True Prius steer ratio

rav4kumar · Sep 26, 2020 · ac51cec · ac51cec
1 parent 42de3e4
commit ac51cec
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -63,7 +63,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       stop_and_go = True
       ret.safetyParam = 50  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
-      ret.steerRatio = 14.22   # unknown end-to-end spec
+      ret.steerRatio = 13.4   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
 
@@ -83,7 +83,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       stop_and_go = True
       ret.safetyParam = 54
       ret.wheelbase = 2.6924
-      ret.steerRatio = 15.74  # unknown end-to-end spec
+      ret.steerRatio = 13.4  # unknown end-to-end spec
       ret.steerActuatorDelay = 0.55
       tire_stiffness_factor = 0.6371  # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG