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Cydia's Toyota tune

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Co-Authored-By: Irene <12470297+cydia2020@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent c821b28583
commit 0c120333d6
10 changed files with 66 additions and 8 deletions
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16
selfdrive/car/toyota/interface.py
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@@ -267,7 +267,21 @@ class CarInterface(CarInterfaceBase):
tune = ret.longitudinalTuning
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [.0, .15]
if candidate in TSS2_CAR or ret.enableGasInterceptor:
if params.get_bool("CydiaTune"):
# on stock Toyota this is -2.5
ret.stopAccel = -2.5
tune.deadzoneBP = [0., 16., 20., 30.]
tune.deadzoneV = [0., .03, .06, .15]
ret.stoppingDecelRate = 0.17 # This is okay for TSS-P
if candidate in TSS2_CAR:
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stoppingDecelRate = 0.009 # reach stopping target smoothly
tune.kpBP = [0., 5.]
tune.kpV = [0.8, 1.]
tune.kiBP = [0., 5.]
tune.kiV = [0.3, 1.]
elif candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
tune.kiBP = [0., 5., 12., 20., 27.]