update rav4h_tss2 tune (#1260)

* update rav4h_tss2 tune reduce pid gains for rav4h_tss2 to reduce ping pong at local speed and big turn * update tuning for rav4_tss2 in additional to rav4h_tss2
commaai · Mar 30, 2020 · ba1e79d · ba1e79d
1 parent 9c16ad8
commit ba1e79d
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -157,19 +157,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      ret.lateralTuning.pid.kf = 0.00004
 
     elif candidate == CAR.RAV4H_TSS2:
       stop_and_go = True
       ret.safetyParam = 73
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
       ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      ret.lateralTuning.pid.kf = 0.00004
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True