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Enhanced lateral control #529

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Gernby commented Feb 15, 2019

This is a large set of enhancements for lateral control, which has been tested with positive results on many makes and models. The enhancements are in the following areas:

  • MPC interpolation
  • Projection of future state
  • Steer rate and acceleration control
  • Steering torque calculation (modeled as a resonant circuit)
  • Longitudinal offset of EON camera

Overall benefit:

  • Steering response is improved, and made consistent across all vehicle speed ranges
  • Dependency and sensitivity to PID "tuning" is reduced
  • Feed forward error due to suspension alignment, wind, and crowning is reduced
  • Sample error from low resolution sensor data is reduced
  • Steering mechanism is more direct / intentional, and has a more fluid sweep.

The proposed logic generally works well with standard PIF parameters. However, some vehicles, like the Honda Civic require some customization of SteerKpV and SteerKiV for smooth straight-line driving. To simplify the tuning process, I created another branch of the proposed logic, which captures high-resolution steering data to a CSV file for offline analysis. This would likely be done by community members with tuning expertise (via email).

The proposed tuning method uses a staged approach. The first stage will induce a sinusoidal adjustment of all 3 resonant steering parameters (resistance, reactance, and inductance) at different frequencies. The goal for this stage is to capture a high-level view of steering response from a broad set of combined values. This can be completed with only 10 minutes worth of data recorded at a steady speed on a well-groomed highway during favorable weather. If the steering response is not acceptable at any point in the 10 minute log, then SteerKpV and SteerKiV should be reduced by ~20% (or more) before repeating Stage 1. Otherwise, new values for all 3 resonant parameters will be chosen for the next tuning stage.


Here is a snapshot from stage 1. Note that the snapshot is interactive (after following the link). You can zoom in or out using the buttons at the top, or with mouse / keyboard shortcuts. Also note that the "Sway" value is a periodic agitation of the steering system, which helps with the tuning process.

The second tuning stage will use a fixed value for resistance, which should be the lowest acceptable value from stage 1 (ideally 0.5). However, the values for reactance and inductance will have a sinusoidal adjustment similar to stage 1, except with a smaller amplitude and frequency. The goal for this stage is to validate the adjustments from stage 1 while further refining values for reactance and inductance. This requires another 10 minute CSV data log similar to stage 1.

The third tuning stage will use fixed values for resistance and reactance. However, the inductance value will have a sinusoidal adjustment with a smaller amplitude and frequency than stage 2. The goal for this stage is to validate the adjustments from stage 2 while further refining inductance. This requires another 10 minute CSV data log similar to stage 2.

The fourth and fifth stages are optional, but allow the resistance or reactance value to be further refined with a sinusoidal adjustment while the other 2 parameters remain fixed. Stages 3-5 can be repeated again and again, if desired, until steering response is perfected (or "resonant", "impedence matched").

Gernby added some commits Jan 10, 2019

Squashed commit of the following:
commit 3624f8c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Feb 14 19:08:27 2019 -0600

    cleanup for PR

commit 4678492
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Feb 4 21:08:01 2019 -0600

    updated vision

commit 3f8cc11
Merge: ff3cd65 4ed0725
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Feb 4 19:49:59 2019 -0600

    Merge branch 'devel' of https://github.com/Gernby/openpilot into resonant-mpc-interp-

commit ff3cd65
Author: Gernby <gernby2002@yahoo.com>
Date:   Tue Jan 22 13:58:31 2019 -0600

    Updated Accord resonant parameters

commit a9c808b
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 21 16:34:23 2019 -0600

    improved some resonant parameters

commit 2e59311
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 21 10:10:38 2019 -0600

    Updates for pr

commit 3f7abe3
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Jan 12 09:33:39 2019 -0600

    added default parameters

commit b816310
Author: Gernby <gernby2002@yahoo.com>
Date:   Fri Jan 11 17:31:48 2019 -0600

    added resonant parameters

commit 8328254
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Jan 10 15:04:54 2019 -0600

    need to test, but I think it's ready

commit 93efe26
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Jan 10 13:23:33 2019 -0600

    added vibration

commit 69ec2dd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Jan 10 11:43:01 2019 -0600

    not quite ready

commit c734116
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 7 16:52:36 2019 -0600

    more cleanup

commit c3ebdf2
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 7 16:44:53 2019 -0600

    added comments in carstate

commit d9c8c0d
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 7 16:38:53 2019 -0600

    Fixed a cleanup issue

commit bf9a4ce
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 7 15:58:15 2019 -0600

    untested: cleaning up for PR

commit 7652a56
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 7 14:29:53 2019 -0600

    removed extra variable

commit 40713b5
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Jan 7 13:56:12 2019 -0600

    enabled auto-selection of steer_rate

commit 62a941a
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Jan 6 20:11:24 2019 -0600

    reverted toyota carstate change

commit 784c4d4
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Jan 6 20:05:38 2019 -0600

    add dual-mode steer-rate alternating

commit a163a3b
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Jan 6 13:44:32 2019 -0600

    updated toyota carstate

commit fc4629c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Jan 6 13:40:35 2019 -0600

    added calculated steer rate

commit 2789c2a
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Jan 2 20:20:41 2019 -0600

    not working ... lane filtering

commit 1a36d19
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Jan 1 12:58:12 2019 -0600

    last commit didn't have saved values

commit bf6c44d
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Jan 1 12:56:20 2019 -0600

    Added simplified tuning parameters

commit b307f70
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Dec 31 14:18:07 2018 -0600

    fixed projected_angle_steers for future statefixed projected_angle_steers for future state

commit b92a2f4
Author: Gernby <gernby2002@yahoo.com>
Date:   Mon Dec 31 11:11:37 2018 -0600

    Reverted projection_factor

commit 99460c1
Author: Gernby <gernby2002@yahoo.com>
Date:   Mon Dec 31 11:10:35 2018 -0600

    Increased error correction

commit e42d081
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Dec 30 16:41:53 2018 -0600

    reverted visiond

commit 989e888
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Dec 30 16:29:48 2018 -0600

    reverted accelerated_angle_rate for pid updates

commit f6c2d0e
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Dec 29 09:12:11 2018 -0600

    Works great... time to clean it up

commit e2ece4b
Merge: 0dd9339 4d2ff10
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Dec 28 13:47:10 2018 -0600

    Merge 0.5.7 into testing-mpc-interp

commit 0dd9339
Author: Gernby <gernby2002@yahoo.com>
Date:   Fri Dec 28 13:35:19 2018 -0600

    changed Kp for some

commit 218d69c
Author: Gernby <gernby2002@yahoo.com>
Date:   Fri Dec 28 13:19:18 2018 -0600

    Enabled error correction

commit 45ef704
Author: Gernby <gernby2002@yahoo.com>
Date:   Fri Dec 28 13:15:50 2018 -0600

    Reverted a couple resonant parameters

    Reduced projection_factor and increased accel_limit

commit d5c2202
Author: Gernby <gernby2002@yahoo.com>
Date:   Fri Dec 28 10:21:08 2018 -0600

    Tweaked steer_offset list

commit ebad223
Author: Gernby <gernby2002@yahoo.com>
Date:   Fri Dec 28 10:19:11 2018 -0600

    removed steer_offset from pilot

commit 776d853
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Dec 27 19:16:17 2018 -0600

    Fixed honda interface values

commit 9dd050f
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Dec 27 16:16:46 2018 -0600

    tiny meaningless changes

commit 8982228
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Dec 27 13:28:18 2018 -0600

    much better interpolation plus Civic tweaks

commit a0266f6
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Dec 27 09:52:40 2018 -0600

    increased Kf for Pilot

commit 057289b
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Dec 27 09:50:31 2018 -0600

    very smooth interpolation between delayed MPC updates

commit 68836c1
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Dec 26 19:46:28 2018 -0600

    added update to cur_state.delta

commit b204acd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Dec 26 17:22:00 2018 -0600

    trying different interpolation logic

commit 19db4fe
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Dec 26 09:53:22 2018 -0600

    added smoothing of mpc delta values

commit 96dbc51
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Dec 24 23:57:58 2018 -0600

    enhanced torque logic to use accelerated rate

commit 0b24b41
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Dec 24 14:22:34 2018 -0600

    increased projection factor and decreased accel_limit

commit 343d946
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Dec 22 19:12:25 2018 -0600

    Wiggle vision + resonant FF and error cancellation

commit 0579016
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Dec 16 17:14:05 2018 -0600

    Fixed steer_actuator_delay for pathplanner

commit 5b9708c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Dec 15 20:52:21 2018 -0600

    removed hard-coded actuator delay

commit f2b706c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Dec 13 13:03:17 2018 -0600

    working again, hopefully resolved git issue

commit 05eae19
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Dec 13 11:32:12 2018 -0600

    hopefully fixed white space corruption

commit 53bdee4
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Thu Dec 13 09:26:55 2018 -0600

    Hopefully not corrupted by git

commit 982c7e0
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Wed Dec 12 16:01:31 2018 -0600

    Finally got it fixed, works awesome!

commit 37c7196
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Wed Dec 12 14:38:54 2018 -0600

    still trying to un-git myself

commit 89418e4
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Wed Dec 12 11:37:20 2018 -0600

    Trying to figure out what git did...

commit 7cb32e9
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Tue Dec 11 21:32:08 2018 -0600

    git is sucking giant monkey balls

commit be6bc31
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Tue Dec 11 21:28:55 2018 -0600

    battling shitty git

commit 044bd29
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Tue Dec 11 20:48:45 2018 -0600

    untested merge

commit e222d48
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Wed Dec 5 19:01:14 2018 -0600

    completely UNtested

commit a559a7d
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Tue Dec 4 20:35:08 2018 -0600

    added comments

commit dbdc422
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Tue Dec 4 13:22:41 2018 -0600

    untested ...

commit 46bf0aa
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Tue Dec 4 12:23:55 2018 -0600

    fixed projected angle error for PIF

commit 2d988b9
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Mon Dec 3 14:37:37 2018 -0600

    added actual acceleration to future projected state

commit 68c9a0a
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Sun Dec 2 17:39:35 2018 -0600

    added steer rate to future state calculation

commit 8837355
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Sat Dec 1 22:22:25 2018 -0600

    fixed an oops for non-bosch hondas

commit 559593b
Author: gernby2002@yahoo.com <gernby2002@yahoo.com>
Date:   Sat Dec 1 20:36:32 2018 -0600

    hopefully proper merge of merged fixes of merge

commit 1aa2b75
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 29 22:23:07 2018 -0600

    I wish git was batter for cleanup

commit d820de2
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 29 22:12:46 2018 -0600

    cleanup

commit 5ed48fd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 29 22:02:57 2018 -0600

    works amazingly well ... big O face

commit c186f5c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 29 21:08:31 2018 -0600

    cleanup of the cleanup?  Need to test

commit dbe6835
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 29 21:01:27 2018 -0600

    more cleanup

commit d4acc24
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 29 20:47:26 2018 -0600

    awesome, but untested after some cleanup

commit b658484
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 29 16:33:27 2018 -0600

    ugly code with amazing results

commit 9f89e4d
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Nov 28 15:26:37 2018 -0600

    oops

commit 4ead166
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Nov 28 15:25:23 2018 -0600

    switching directions again

commit 1a839ba
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Wed Nov 28 09:17:36 2018 -0600

    non-specific save

commit fcc3c3e
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 27 19:49:21 2018 -0600

    added super awesome angular accel limit

commit 72ed9ef
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 27 15:50:29 2018 -0600

    added angular accelleration limit

commit aa2bc77
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 27 10:59:01 2018 -0600

    simulteneous dual mode feedforward working very well

commit c70e60e
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Nov 26 19:54:51 2018 -0600

    many tweaks, self-tuning is a bitch

commit 527788b
Author: George Hotz <george@comma.ai>
Date:   Sun Nov 25 13:35:56 2018 -0600

    decreased time lapse for angle-based FF adjust

commit 60f9e85
Author: George Hotz <george@comma.ai>
Date:   Sun Nov 25 12:24:13 2018 -0600

    working amazingly well

commit 3f9b21e
Author: George Hotz <george@comma.ai>
Date:   Sun Nov 25 11:27:48 2018 -0600

    fixed trim logic, and persisted to flash

commit 33e44f6
Author: George Hotz <george@comma.ai>
Date:   Sat Nov 24 18:36:45 2018 -0600

    added self-tuning parms for rate and angle FF

commit cec70b7
Author: George Hotz <george@comma.ai>
Date:   Sat Nov 24 12:15:56 2018 -0600

    trying rate-based feed-forward

commit d04f868
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Nov 17 14:29:29 2018 -0600

    Testing approach when desired angle close to actual

commit 07bbadc
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Nov 17 13:23:44 2018 -0600

    Fixed merge

commit 3134bce
Merge: 52094ba b94d598
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Nov 17 12:45:12 2018 -0600

    Merge remote-tracking branch 'origin' into Feed-Forward_Steer_Offset

commit 52094ba
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 13 17:06:02 2018 -0600

    cleaned up for PR

commit 34e239f
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 13 16:55:00 2018 -0600

    Added steering rate consideration to latcontrol

commit 900b9cd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 13 10:22:31 2018 -0600

    Reverted changes to manager.py

commit a0c9b2d
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Nov 12 20:15:50 2018 -0600

    reverted change to Ki

commit 856f2b1
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Nov 12 20:09:52 2018 -0600

    some cleanup

commit f26785e
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Nov 12 20:04:15 2018 -0600

    Fixed defect in desired angle interpolation

commit 66ec2bc
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Mon Nov 12 16:40:05 2018 -0600

    untested: minor adjustment to further reduce noise

commit 1251809
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Nov 11 18:46:51 2018 -0600

    more cleanup for general use

commit b12aaf3
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Nov 11 18:41:30 2018 -0600

    cleaned up personalized "stuff"

commit 4b4767c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Nov 11 17:28:45 2018 -0600

    Best yet

commit 347d1d1
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sun Nov 11 11:46:02 2018 -0600

    going the other way with some things...

commit a8fabe2
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Nov 10 21:03:05 2018 -0600

    many untested changes

commit 855684c
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Sat Nov 10 09:37:38 2018 -0600

    minor tweaks

commit 78095f4
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Fri Nov 9 19:53:18 2018 -0600

    untested tweaks

commit 8087e81
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 18:10:04 2018 -0600

    Cleanup

commit d9c8dff
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 18:02:50 2018 -0600

    performance tweaks

commit 8f0effd
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 17:17:35 2018 -0600

    Adjusted parameter timing

commit b6a5180
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 14:23:56 2018 -0600

    Added more metrics

commit f475160
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 12:21:25 2018 -0600

    First working

commit f543fe9
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 11:49:01 2018 -0600

    added outbound interface for feed-forward table

commit ebbfd0b
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 10:04:17 2018 -0600

    First version that runs

commit f720034
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 09:28:41 2018 -0600

    Moved angle stat collection to latcontrol.py

commit f6e5830
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Thu Nov 8 08:00:49 2018 -0600

    Testing strategies for zero-crossing

commit 0bbc4fc
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 6 18:29:42 2018 -0600

    fixed a small oops on types

commit ea86f34
Author: Greg Esmond <gernby2002@yahoo.com>
Date:   Tue Nov 6 17:56:07 2018 -0600

    Fixed feed-forward to consider steer_offset
@icmma

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icmma commented Feb 15, 2019

This has been work in progress since Nov of last year after 100s of tests can say these changes has been tested on almost every car as possible with help of other devs involved. This is a game changer as far as lateral control goes where @Gernby has put almost day and night to work on this awesome project in the end it was all worth it thanks @Gernby for your hard work bro:)

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Gernby commented Feb 16, 2019

FYI, I have added more content above.

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VirtuallyChris commented Feb 25, 2019

Gernby's work has made Toyota cars feel actually safe to drive with openpilot. Before I was getting severe jerking on the 2018 Rav4 Hybrid, but with a version of his steering I was able to tune and get smooth feeling turning - best a Toyota has ever felt! It also made my Civic perform better on roads with high crowns by staying dead center. Cars will need re-tuning, but I think it is worth it in the long run.

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rdm128 commented Feb 28, 2019

I've driven for the last month on a fork of 0.5.8 w/ Gernby steering and I recently returned to stock for 0.5.9. There is a significant reduction in steering quality, especially in gradual turns where Gernby steering felt much smoother and more intentional.

@kegman

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kegman commented Mar 2, 2019

Agree with @rdm128 Gernby's FF steering made my car feel like it was on a "track". perfectly centered at all times with a high degree of certainty that it would make turns very consistently. Although 0.5.9 made my wheel stiffer and centers better on crowned roads, it is a bit of a regression from what I am used to with Gernby's steering enhancement. The changes that Gernby's steering makes are subtle but noticeable when driving longer distances in curvy situations and in areas where there are high wind gusts.

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Gernby commented Mar 2, 2019

Thanks for the comments above!

I have done a successful merge of my code with 0.5.9, but still need to clean it up. Thankfully, it seems that 0.5.9 compliments the enhancements in this PR.

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Gernby commented Mar 4, 2019

FYI, I just finished testing a 0.5.9 version of my latcontrol, and will update the PR branch after I get more feedback from the community.

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geo2112 commented Mar 4, 2019

@chassdesk

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chassdesk commented Mar 5, 2019

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Gernby commented Mar 11, 2019

After careful review of this combined set of enhancements, I believe some of the enhancements were unnecessary and / or problematic. I spent a considerable amount of time refining the remaining enhancements and will submit a new PR after feedback from the community.

@Gernby Gernby closed this Mar 11, 2019

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