return RAV4 longitudinal tuning and add commaai#1260

arne182 · Mar 24, 2020 · b00c7bd · b00c7bd
1 parent 310cbaf
commit b00c7bd
Showing 1 changed file with 6 additions and 16 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -132,8 +132,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
       ret.lateralTuning.lqr.scale = 1500.0
       ret.lateralTuning.lqr.ki = 0.06
-      ret.longitudinalTuning.kpV = [0.1, 0.3, 0.3]  # braking tune
-      ret.longitudinalTuning.kiV = [0.1, 0.1]
+      ret.longitudinalTuning.kpV = [0.325, 0.325, 0.325]  # braking tune
+      ret.longitudinalTuning.kiV = [0.15, 0.1]
       ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
       ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
       ret.lateralTuning.lqr.c = [1., 0.]
@@ -237,29 +237,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
-
-    elif candidate == CAR.RAV4H_TSS2:
-      stop_and_go = True
-      ret.safetyParam = 73
-      ret.wheelbase = 2.68986
-      ret.steerRatio = 14.3
-      tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
-      ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      ret.lateralTuning.pid.kf = 0.00004
 
     elif candidate == CAR.RAV4H_TSS2:
       stop_and_go = True
       ret.safetyParam = 73
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
       ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      ret.lateralTuning.pid.kf = 0.00004
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True