From 677ebc815bb1b606789ca774d09d63a08cdcb485 Mon Sep 17 00:00:00 2001 From: Casey Francis <> Date: Fri, 10 Jun 2022 20:51:59 -0700 Subject: [PATCH] Finish rename toggle change toggle to torque Update interface.py Update settings.cc --- selfdrive/car/toyota/interface.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index b40c6e743d65f5..a7e4f9901f74f9 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -136,7 +136,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid if Params().get_bool('Torque'): - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05) + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06) else: set_lat_tune(ret.lateralTuning, LatTunes.PID_D) @@ -144,8 +144,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - if Params().get_bool('LqrTune'): - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=3.3, FRICTION=0.061) + if Params().get_bool('Torque'): + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=3.3, FRICTION=0.061) else: set_lat_tune(ret.lateralTuning, LatTunes.PID_I) break