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use steer_model as lateral control for COROLLA_TSS2

steering_model
Jonathan Frey 2022-01-31 15:29:26 +01:00
parent 194cc7a8b9
commit 0ab4f0618e
1 changed files with 2 additions and 1 deletions
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3
selfdrive/car/toyota/interface.py
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@ -130,7 +130,8 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
set_lat_tune(ret.lateralTuning, LatTunes.STEER_MODEL)
elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
stop_and_go = True