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Reverted a couple resonant parameters
Reduced projection_factor and increased accel_limit
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Gernby committed Dec 28, 2018
1 parent d5c2202 commit 45ef704
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions selfdrive/controls/lib/latcontrol.py
Expand Up @@ -39,8 +39,8 @@ def __init__(self, CP):
self.last_cloudlog_t = 0.0
self.setup_mpc(CP.steerRateCost)
self.smooth_factor = 2.0 * CP.steerActuatorDelay / _DT # Multiplier for inductive component (feed forward)
self.projection_factor = CP.steerActuatorDelay # Mutiplier for reactive component (PI)
self.accel_limit = 2.0 # Desired acceleration limit to prevent "whip steer" (resistive component)
self.projection_factor = CP.steerActuatorDelay / 2.0 # Mutiplier for reactive component (PI)
self.accel_limit = 5.0 # Desired acceleration limit to prevent "whip steer" (resistive component)
self.ff_angle_factor = 0.5 # Kf multiplier for angle-based feed forward
self.ff_rate_factor = 5.0 # Kf multiplier for rate-based feed forward
self.prev_angle_rate = 0
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