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I have been running a C3 on a Ram HD trucks since 10/2021. A large issue I have noticed is that the learner has a very hard time with these trucks. For example, the steering ratio is 15.61. However, I have seen the learner error from the liveParameters.steerRatio getting too high. As a test, I have raised the initial steer ratio to 25 and it errored once liveParameters.steerRatio crossed 50. Also, liveParameters.stiffnessFactor will continually learn down on a long trip. I have seen it get to 0.09 before if I disable the error. I am not positive about the exact cause of this. On several long turns, I have received the liveParameters.angleOffsetDeg error crossing over 10 as well. Attached is a log of the steering angle continuing to climb. The steering angle in the fork is set to 15.61.
Describe the bug
I have been running a C3 on a Ram HD trucks since 10/2021. A large issue I have noticed is that the learner has a very hard time with these trucks. For example, the steering ratio is 15.61. However, I have seen the learner error from the liveParameters.steerRatio getting too high. As a test, I have raised the initial steer ratio to 25 and it errored once liveParameters.steerRatio crossed 50. Also, liveParameters.stiffnessFactor will continually learn down on a long trip. I have seen it get to 0.09 before if I disable the error. I am not positive about the exact cause of this. On several long turns, I have received the liveParameters.angleOffsetDeg error crossing over 10 as well. Attached is a log of the steering angle continuing to climb. The steering angle in the fork is set to 15.61.
Which car does this affect?
Ram HD
Provide a route where the issue occurs
https://useradmin.comma.ai/?onebox=8fb5eabf914632ae%7C2022-08-07--11-32-11
openpilot version
0.8.16
Additional info
No response
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