8000 Highlander Tuning by daehahn · Pull Request #690 · commaai/openpilot · GitHub
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Highlander Tuning #690

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Highlander Tuning #690

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68a6f67
Highlander Tuning
daehahn Jun 7, 2019
f6896e7
Update kiV value
daehahn Jun 12, 2019
8d42ef1
Merge 0.6 branch
daehahn Jul 1, 2019
34ee877
Merge branch 'devel' of https://github.com/commaai/openpilot into clean
daehahn Jul 1, 2019
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6 changes: 3 additions & 3 deletions selfdrive/car/toyota/interface.py
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Expand Up @@ -140,10 +140,10 @@ def get_params(candidate, fingerprint, vin=""):
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444 # not optimized yet
tire_stiffness_factor = 0.7933 # from overtime live tuning result
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # Modified from Phil Lee's PR
ret.lateralTuning.pid.kf = 0.00012 # from overtime curve testing result

elif candidate == CAR.AVALON:
stop_and_go = False
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