Toyota TSS2 longTune (commaai#93)

rpaulhanna · Feb 9, 2023 · 0d00a87 · 0d00a87
1 parent 66e3b2a
commit 0d00a87
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -235,14 +235,14 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     tune.deadzoneBP = [0., 9.]
     tune.deadzoneV = [.0, .15]
     if candidate in TSS2_CAR or ret.enableGasInterceptor:
-      tune.kpBP = [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7]
-      tune.kiBP = [0., 5., 12., 20., 27.]
-      tune.kiV = [.35, .23, .20, .17, .1]
+      tune.kpBP = [0., 5., 20., 30.]
+      tune.kpV = [1.3, 1.0, 0.7, 0.1]
+      #tune.kiBP = [0., 5., 12., 20., 27.]
+      #tune.kiV = [.35, .23, .20, .17, .1]
+      tune.kiBP = [0.,    8.3,  11.9,  13.8, 19.7, 30., 33., 40.]
+      tune.kiV =  [.02, .03,  .14,   .18,  .18,  .06,  .01, .001]
       if candidate in TSS2_CAR:
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+        ret.stoppingDecelRate = 0.009  # reach stopping target smoothly
     else:
       tune.kpBP = [0., 5., 35.]
       tune.kiBP = [0., 35.]