lower integral

commaai · Sep 20, 2024 · feb9f42 · feb9f42
1 parent 71aa716
commit feb9f42
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py
@@ -131,6 +131,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+
+      # Since we compensate for imprecise acceleration in carcontroller, we can be less aggressive with tuning
+      # This also prevents unnecessary windup due to internal car jerk limits
+      if ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
+        tune.kiV = [0.25]
     else:
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]