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Add steering rate consideration for future state calculation #552
This enhancement is part of a large group of enhancements included in a different PR. I realized that it would be easier to understand and evaluate the merits of each individual enhancement before that PR is completed. I'll be submitting many more over the next few days.
The existing future state calculation does not consider the steering rate, so the MPC uses the current steering angle as if it will stay constant for the full actuator delay. The simple enhancement uses the steering rate to determine a more likely future angle.