Update interface.py

retrying to add if corolla tss2 d tuning to interface
debugged-tech · Sep 5, 2020 · 1273f40 · 1273f40
1 parent 8bb4eb0
commit 1273f40
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -270,6 +270,11 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
         ret.lateralTuning.indi.outerLoopGain = 15.0
         ret.lateralTuning.indi.timeConstant = 5.5
         ret.lateralTuning.indi.actuatorEffectiveness = 6.0
+      if corolla_tss2_d_tuning:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+        ret.lateralTuning.pid.kdBP = [0.]
+        ret.lateralTuning.pid.kdV = [9.0]
+        ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True