average of last two tunes for dynamic camera offsetting

debugged-tech · Aug 23, 2020 · 15ab5fb · 15ab5fb
1 parent 6744d48
commit 15ab5fb
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/common/op_params.py b/common/op_params.py
@@ -87,7 +87,7 @@ def __init__(self):
                         'log_auto_df': Param(False, bool, 'Logs dynamic follow data for auto-df'),
                         'dynamic_camera_offset': Param(True, bool, 'Whether to automatically keep away from oncoming traffic.\n'
                                                                    'Works from 35 to ~60 mph (requires radar)'),
-                        'dynamic_camera_offset_time': Param(4., VT.number, 'How long to keep away from oncoming traffic in seconds after losing lead'),
+                        'dynamic_camera_offset_time': Param(3.5, VT.number, 'How long to keep away from oncoming traffic in seconds after losing lead'),
                         'support_white_panda': Param(False, bool, 'Enable this to allow engagement with the deprecated white panda.\n'
                                                                   'localizer might not work correctly'),
                         'prius_use_pid': Param(False, bool, 'This enables the PID lateral controller with new a experimental derivative tune\nFalse: stock INDI, True: TSS2-tuned PID'),

diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
@@ -68,7 +68,7 @@ def _setup_static(self):  # these variables are static
     self._enabled = self.op_params.get('dynamic_camera_offset')
     self._min_enable_speed = 35 * CV.MPH_TO_MS
     self._min_lane_width_certainty = 0.4
-    hug = 0.075  # how much to hug
+    hug = 0.1  # how much to hug
     self._center_ratio = 0.5
     self._hug_left_ratio = self._center_ratio - hug
     self._hug_right_ratio = self._center_ratio + hug
@@ -77,7 +77,7 @@ def _setup_static(self):  # these variables are static
     self._ramp_angles = [0, 12.5, 25]
     self._ramp_angle_mods = [1, 0.85, 0.1]  # multiply offset by this based on angle
 
-    self._ramp_down_times = [self._keep_offset_for, self._keep_offset_for + 1.5]
+    self._ramp_down_times = [self._keep_offset_for, self._keep_offset_for + 2.]
     self._ramp_down_multipliers = [1, 0]  # ramp down 1.5s after time has passed
 
     self._poly_prob_speeds = [0, 25 * CV.MPH_TO_MS, 35 * CV.MPH_TO_MS, 60 * CV.MPH_TO_MS]