Merge pull request #38 from arne182/DP08-clean

indi BPv (commaai#751)
cgw1968-5779 · Dec 22, 2020 · e193dfc · e193dfc
2 parents 2d69abb + 75cf0aa
commit e193dfc
Show file tree

Hide file tree

Showing 6 changed files with 513 additions and 48 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -453,10 +453,12 @@ struct CarParams {
   }
 
   struct LateralINDITuning {
-    outerLoopGain @0 :Float32;
-    innerLoopGain @1 :Float32;
-    timeConstant @2 :Float32;
-    actuatorEffectiveness @3 :Float32;
+    outerLoopGainV @0 :List(Float32);
+    outerLoopGainBP @1 :List(Float32);
+    innerLoopGain @2 :Float32;
+    timeConstantBP @3 :List(Float32);
+    timeConstantV @4:List(Float32);
+    actuatorEffectiveness @5 :Float32;
   }
 
   struct LateralLQRTuning {