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revert accel limit to comply with comma safety regulation

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This commit is contained in:
Rick Lan
2020-03-31 11:23:02 +10:00
parent 22a2cbb730
commit 440e4ecc91
1 changed files with 3 additions and 3 deletions
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6
panda/board/safety/safety_toyota.h
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@@ -4,8 +4,8 @@ const int TOYOTA_MAX_TORQUE = 1500; // max torque cmd allowed ever
// rate based torque limit + stay within actually applied
// packet is sent at 100hz, so this limit is 1000/sec
const int TOYOTA_MAX_RATE_UP = 10; // ramp up slow
const int TOYOTA_MAX_RATE_DOWN = 44; // ramp down fast
const int TOYOTA_MAX_TORQUE_ERROR = 500; // max torque cmd in excess of torque motor
const int TOYOTA_MAX_RATE_DOWN = 25; // ramp down fast
const int TOYOTA_MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec
@@ -13,7 +13,7 @@ const int TOYOTA_MAX_RT_DELTA = 375; // max delta torque allowed for real t
const uint32_t TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
// longitudinal limits
const int TOYOTA_MAX_ACCEL = 4000; // 1.5 m/s2
const int TOYOTA_MAX_ACCEL = 1500; // 1.5 m/s2
const int TOYOTA_MIN_ACCEL = -3000; // 3.0 m/s2
const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph