Final update

commaai · Apr 19, 2022 · 62628f6 · 62628f6
1 parent 93ac5ec
commit 62628f6
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
@@ -54,7 +54,7 @@ def set_lat_tune(tune, name, MAX_TORQUE=2.5, FRICTION=.1):
   if name == LatTunes.TORQUE:
     tune.init('torque')
     tune.torque.useSteeringAngle = True
-    tune.torque.kp = 3.5 / MAX_TORQUE
+    tune.torque.kp = 2.0 / MAX_TORQUE
     tune.torque.kf = 1.0 / MAX_TORQUE
     tune.torque.ki = 0.5 / MAX_TORQUE
     tune.torque.friction = FRICTION

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
@@ -48,7 +48,8 @@ def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature,
       ff = desired_lateral_accel - params.roll * 9.81
       output_torque = self.pid.update(error,
                                       override=CS.steeringPressed, feedforward=ff,
-                                      speed=CS.vEgo)
+                                      speed=CS.vEgo,
+                                      freeze_integrator=CS.steeringRateLimited)
 
       friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
       output_torque += friction_compensation