From f2982340f8aed49559713f573b751e6095e51504 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 Feb 2023 14:09:16 -0800 Subject: [PATCH] Ford: adjust curvature rate limits (#27423) * Update values.py * Update values.py * make consistent * Update ref_commit --- selfdrive/car/ford/values.py | 5 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 6be93269c..1c8917446 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -28,8 +28,9 @@ class CarControllerParams: # Curvature rate limits # TODO: unify field names used by curvature and angle control cars - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032]) + # ~2 m/s^3 up, -3 m/s^3 down + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.0002]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024]) ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MIN = -3.5 # m/s^s max deceleration diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 07fe22b02..1d807d75c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4ad02871365f4cbd83c6b4c4f8ad6bb73015a626 \ No newline at end of file +5f45771d28c8e7112d474edcdd991689c6440acf