slightly reduce derivative for TSS2 RAV4

sshane · Sep 5, 2020 · d454dfa · d454dfa
1 parent 22cf057
commit d454dfa
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -224,7 +224,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       tire_stiffness_factor = 0.7933
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
       ret.lateralTuning.pid.kdBP = [0.]
-      ret.lateralTuning.pid.kdV = [0.725]
+      ret.lateralTuning.pid.kdV = [0.68]
 
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kf = 0.00004