UPDATE

TC1979 · Aug 9, 2024 · 510ae42 · 510ae42
1 parent ad18462
commit 510ae42
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
@@ -8,7 +8,7 @@
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 from openpilot.common.params import Params
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 
 SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -1,5 +1,5 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.common.params import Params
 from panda import Panda
 from panda.python import uds
@@ -178,8 +178,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
         tune.kiBP = [0.0]
         tune.kiV = [0.5]
     else:
-      tune.kiBP = [0.,   5.,   12.,  20.,  27.,  36.,  50]
-      tune.kiV = [0.33, 0.22, 0.20, 0.17, 0.12, 0.08, 0.06]
+      tune.kiBP = [0.,    5.,   12.,  20.,  27.,  36.,  50]
+      tune.kiV = [0.342, 0.23, 0.20, 0.17, 0.12, 0.08, 0.06]
 
       if candidate in TSS2_CAR:
         ret.vEgoStopping = 0.001

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -32,7 +32,7 @@
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
-A_CRUISE_MIN_VALS =    [-1.02, -0.25, -0.001, -0.01, -0.15, -0.22, -0.28, -0.35, -0.65, -0.8]
+A_CRUISE_MIN_VALS =    [-1.02, -0.25, -0.001, -0.01, -0.15, -0.22, -0.28, -0.35, -0.45, -0.55]
 #A_CRUISE_MIN_VALS =   [-0.20, -0.20, -0.30, -0.30, -0.35, -0.80, -0.80]
 A_CRUISE_MIN_BP =      [ 0.,   .01,   .02,    .3,     5.,    8.,    11.,   16.,   28.,   33.]
 #A_CRUISE_MIN_BP =     [ 0.,    8.32,  8.33,  15.99, 16.,   30.,   40.]