Tesla: reduce jerkiness after gas overwrite

[lukasloetkolben]

Ramping up the jerk after overriding the gas helps to make it feel less jerky.

[sshane]

I suggested this, but @robbederks thought it was hacky. I'm going to take another look again in a few days to see if we're doing anything wrong first before merging

[lukasloetkolben]

I did a few tests and it feels much smoother.
Maybe you can do a test drive.
Maybe increase the rate to 0.04-0.05

[robbederks]

Yeah I'm sure this fixes the issue in the car, but I think it's likely just masking an openpilot bug deeper down

[lukasloetkolben]

I agree, but for now it's probably better to mask the bug than show it?

[sshane]

Looks like there's a combination of things the stock system does that we don't. On gas override it reduces the jerk and ramps it back up, then the up accel limit is near the ISO max, but because the set speed is negative it doesn't actually actuate it, just allow it. I think since we set to 0 on inactive, it thinks we're violating the accel limit and with a very high jerk it brakes to go within it (0 m/s^2):

[sshane]

It looks much less similar on an FSD route 😞

[sshane]

Are you sure this works? I set both jerks to 0 and it still happens

[lukasloetkolben]

Are you sure this works? I set both jerks to 0 and it still happens

It's definitely working for me. I have to test setting jerk to 0.

[adeebshihadeh]

Still relevant?

[lukasloetkolben]

Still relevant?

The PR fixed my jerky gas override, but apparently wasn't working on the Model Y HW4.
i closed the PR for now