ret.steerKpV, ret.steerKiV = [[0.2], [0.04]]

zeeexsixare · Sep 25, 2018 · 86013f1 · 86013f1
1 parent d2206a7
commit 86013f1
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -136,7 +136,8 @@ def get_params(candidate, fingerprint):
       ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
      #ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
      #ret.steerKpV, ret.steerKiV = [[0.1], [0.01]]
-      ret.steerKpV, ret.steerKiV = [[0.2], [0.02]]
+     #ret.steerKpV, ret.steerKiV = [[0.2], [0.02]]
+      ret.steerKpV, ret.steerKiV = [[0.2], [0.04]]
      #ret.steerKf = 0.00006
      #ret.steerKf = 0.00012
       ret.steerKf = 0.00003