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testing

This commit is contained in:
Shane Smiskol 2024-11-15 17:36:16 -08:00
parent 78ced8ff53
commit ec410f5f68
2 changed files with 2 additions and 2 deletions
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2
opendbc/car/toyota/carcontroller.py
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@ -200,7 +200,7 @@ class CarController(CarControllerBase):
self.prev_accel = pcm_accel_cmd
# calculate amount of acceleration PCM should apply to reach target, given pitch
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY if len(CC.orientationNED) == 3 else 0.0
accel_due_to_pitch = 0.0 # math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY if len(CC.orientationNED) == 3 else 0.0
net_acceleration_request = pcm_accel_cmd + accel_due_to_pitch
# self.pcm_accel_net.update(CS.out.aEgo)

2
opendbc/car/toyota/interface.py
View File

@ -144,7 +144,7 @@ class CarInterface(CarInterfaceBase):
# Since we compensate for imprecise acceleration in carcontroller, we can be less aggressive with tuning
# This also prevents unnecessary request windup due to internal car jerk limits
if ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
tune.kiV = [0.0]
tune.kiV = [0.25]
else:
tune.kiBP = [0., 5., 35.]
tune.kiV = [3.6, 2.4, 1.5]