From 498020418d27a7a15c937b6de14bb6b5d21efea9 Mon Sep 17 00:00:00 2001 From: cfranyota <46506059+cfranyota@users.noreply.github.com> Date: Fri, 21 Jul 2023 12:19:08 -0700 Subject: [PATCH] Update interface.py DP tune --- selfdrive/car/toyota/interface.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index b68648a9a03d4c..b11deb5bc91ab0 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -288,10 +288,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # py set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL) elif candidate in TSS2_CAR: set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) - ret.vEgoStopping = 0.2 # car is near 0.1 to 0.2 when car starts requesting stopping accel - ret.vEgoStarting = 0.2 # needs to be > or == vEgoStopping - ret.stopAccel = -2.0 # Toyota requests -0.4 when stopped - ret.stoppingDecelRate = 0.8 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4 + ret.vEgoStopping = 0.15 # car is near 0.1 to 0.2 when car starts requesting stopping accel + ret.vEgoStarting = 0.15 # needs to be > or == vEgoStopping + ret.stopAccel = -0.4 # Toyota requests -0.4 when stopped + ret.stoppingDecelRate = 0.05 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4 else: set_long_tune(ret.longitudinalTuning, LongTunes.TSS)