Tune: corolla_tss2, saftey_param and indi tune (commaai#766)

* Update toyota_nodsu_pt_generated_corolla_tss2.dbc updated corollatss2 tuning * Update toyota_nodsu_pt_generated_corollah_tss2.dbc updated corollatss2 tuning * Update interface.py updated corollatss2 tuning
debugged-tech · Jan 11, 2021 · 8ff5a11 · 8ff5a11
1 parent 4fe0505
commit 8ff5a11
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/opendbc/toyota_nodsu_pt_generated_corolla_tss2.dbc b/opendbc/toyota_nodsu_pt_generated_corolla_tss2.dbc
@@ -407,7 +407,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.50,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.53,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

diff --git a/opendbc/toyota_nodsu_pt_generated_corollah_tss2.dbc b/opendbc/toyota_nodsu_pt_generated_corollah_tss2.dbc
@@ -399,7 +399,7 @@ BO_ 581 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.50,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.53,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -262,22 +262,22 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True
-      ret.safetyParam = 50 
-      ret.wheelbase = 2.63906 #testing 2.67 from master pending
+      ret.safetyParam = 53 
+      ret.wheelbase = 2.67
       ret.steerRatio = 15.33
       tire_stiffness_factor = 0.996  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.steerActuatorDelay = 0.5 
+      ret.steerActuatorDelay = 0.45 
       ret.steerLimitTimer = 5.0
       ret.lateralTuning.init('indi')
       ret.lateralTuning.indi.innerLoopGainBP = [18, 22, 26]
-      ret.lateralTuning.indi.innerLoopGainV = [5, 10, 15]
+      ret.lateralTuning.indi.innerLoopGainV = [5, 12, 15]
       ret.lateralTuning.indi.outerLoopGainBP = [18, 22, 26]
-      ret.lateralTuning.indi.outerLoopGainV = [4, 9, 14.99]
+      ret.lateralTuning.indi.outerLoopGainV = [4, 11, 14.99]
       ret.lateralTuning.indi.timeConstantBP = [18, 22, 26]
       ret.lateralTuning.indi.timeConstantV = [2, 4, 5.5]
       ret.lateralTuning.indi.actuatorEffectivenessBP = [18, 22, 26]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [5, 10, 15]  
+      ret.lateralTuning.indi.actuatorEffectivenessV = [5, 12, 15]  
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True