Update tunes.py DP tune

cfranyota · Jul 21, 2023 · 9e58444 · 9e58444
1 parent 5122442
commit 9e58444
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
@@ -37,8 +37,8 @@ def set_long_tune(tune, name):
     tune.deadzoneV = [.0, .14]
     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.kiBP = [0.,   1.,    2.,    3.,   4.,   5.,    12.,  20.,  27., 40.]
+    tune.kiV = [.348, .3361, .3168, .2831, .2571, .226, .198, .17,  .10, .01]
   # Default longitudinal tune
   elif name == LongTunes.TSS:
     tune.deadzoneBP = [0., 9.]