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_tss2albatross
parent
9c16ad8e18
commit
ba1e79d0ea
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@ -157,9 +157,9 @@ class CarInterface(CarInterfaceBase):
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ret.wheelbase = 2.68986
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ret.steerRatio = 14.3
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tire_stiffness_factor = 0.7933
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
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ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00007818594
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ret.lateralTuning.pid.kf = 0.00004
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elif candidate == CAR.RAV4H_TSS2:
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stop_and_go = True
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@ -167,9 +167,9 @@ class CarInterface(CarInterfaceBase):
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ret.wheelbase = 2.68986
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ret.steerRatio = 14.3
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tire_stiffness_factor = 0.7933
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
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ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00007818594
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ret.lateralTuning.pid.kf = 0.00004
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elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
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stop_and_go = True
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