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Toyota: lower accel down rate limit (#1489)

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lower rate limit
This commit is contained in:
Shane Smiskol
2024-11-14 20:00:14 -06:00
committed by GitHub
parent 635f5ab985
commit 40951c19ee
1 changed files with 2 additions and 2 deletions
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4
opendbc/car/toyota/carcontroller.py
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@@ -17,9 +17,9 @@ SteerControlType = structs.CarParams.SteerControlType
VisualAlert = structs.CarControl.HUDControl.VisualAlert
# The up limit allows the brakes/gas to unwind quickly leaving a stop,
# the down limit matches the rate of ACCEL_NET, reducing PCM compensation windup
# the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
ACCEL_WINDUP_LIMIT = 0.5 # m/s^2 / frame
ACCEL_WINDDOWN_LIMIT = -5.0 * DT_CTRL * 3 # m/s^2 / frame
ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3 # m/s^2 / frame
# LKA limits
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long