From 6c01d094af00bf4681ded08f79e576caaf780085 Mon Sep 17 00:00:00 2001 From: Riccardo Date: Fri, 26 Jan 2018 00:30:08 -0800 Subject: [PATCH] Toyota: less torque error allowance to meet Corolla acceptable behavior --- board/safety/safety_toyota.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h index 1ce02624eec5a2..b99965e98621b7 100644 --- a/board/safety/safety_toyota.h +++ b/board/safety/safety_toyota.h @@ -9,7 +9,7 @@ const int32_t MAX_TORQUE = 1500; // max torque cmd allowed ever // packet is sent at 100hz, so this limit is 1000/sec const int32_t MAX_RATE_UP = 10; // ramp up slow const int32_t MAX_RATE_DOWN = 25; // ramp down fast -const int32_t MAX_TORQUE_ERROR = 500; // max torque cmd in excess of torque motor +const int32_t MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor // real time torque limit to prevent controls spamming // the real time limit is 1500/sec