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Toyota Camry TSS2: update torque control params #24819

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Merged
merged 1 commit into from
Jun 13, 2022
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Toyota Camry TSS2: update torque control params #24819

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4 changes: 2 additions & 2 deletions selfdrive/car/toyota/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop

stop_and_go = False
torque_params = CarInterfaceBase.get_torque_params(candidate)

if candidate == CAR.PRIUS:
stop_and_go = True
Expand Down Expand Up @@ -91,8 +92,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
ret.maxLateralAccel = 2.4
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
else:
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

Expand Down