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Revert lateral tuning change for some TSS2 Rav4 (#21715)

pull/21716/head
Adeeb Shihadeh 2021-07-25 13:46:48 -07:00 committed by GitHub
parent b764261db2
commit c47b646b84
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selfdrive/car/toyota/interface.py
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@ -180,7 +180,7 @@ class CarInterface(CarInterfaceBase):
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion.startswith(b'\x02'):
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
ret.lateralTuning.pid.kf = 0.00004
break