missed one update in latcontrol

8 years ago · 6e824a2c22
parent 942655c947
commit 6e824a2c22
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@ -31,7 +31,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
                        steer_override, sat_count, enabled, Kp, Ki, rate):

  sat_count_rate = 1./rate
-  sat_count_limit = 0.8       # after 0.8s of continuous saturation, an alert will be sent
+  sat_count_limit = 1.2       # after 0.8s of continuous saturation, an alert will be sent

  error_steer = y_des - y_actual
  Ui_unwind_speed = 0.3/rate   #.3 per second