Merge pull request commaai#686 from SCshredder17/patch-7

Update interface.py
debugged-tech · Sep 7, 2020 · 79129fe · 79129fe
2 parents 1cbd778 + 946fe8c
commit 79129fe
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -271,12 +271,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
         #ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0.0, 15.5, 21.0, 29.0], [0.13, 0.39, 0.39, 0.6]]
         #ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0.0, 15.5, 21.0, 29.0], [0.005, 0.015, 0.015, 0.1]]
         #ret.lateralTuning.pid.kfBP, ret.lateralTuning.pid.kfV = [[0.0, 15.5, 21.0, 29.0], [0.00009, 0.00015, 0.00015, 0.00007818594]]
+
+      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
+
         #ret.lateralTuning.init('indi')
         #ret.lateralTuning.indi.innerLoopGain = 6
         #ret.lateralTuning.indi.outerLoopGain = 15.0
         #ret.lateralTuning.indi.timeConstant = 5.5
         #ret.lateralTuning.indi.actuatorEffectiveness = 6.0
 
+
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True
       ret.safetyParam = 73