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Smooth out Sienna tuning (#1292) 

Current Sienna tuning leads to pretty significant bouncing and oversteering, this change fixes it. Thanks to @Jax for finding some great values and checking with a Toyota mechanic on the real steer ratio for Siennas!
pull/1298/head
vetmiker 2020-03-30 18:19:24 -05:00 committed by GitHub
parent 4311550293
commit e0ba222336
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1 changed files with 2 additions and 2 deletions
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selfdrive/car/toyota/interface.py
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@ -195,10 +195,10 @@ class CarInterface(CarInterfaceBase):
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 16.0
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS: