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Ford: adjust curvature rate limits (#27427)

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* fix up

* Update ref_commit
old-commit-hash: b00eb57bb7
vw-mqb-aeb
Shane Smiskol 3 years ago committed by GitHub
parent 0691c6b6de
commit 854314765c
2 changed files with 3 additions and 3 deletions
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  1. 4
      selfdrive/car/ford/values.py
  2. 2
      selfdrive/test/process_replay/ref_commit

4
selfdrive/car/ford/values.py
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@ -28,8 +28,8 @@ class CarControllerParams:
# Curvature rate limits # Curvature rate limits
# TODO: unify field names used by curvature and angle control cars # TODO: unify field names used by curvature and angle control cars
# ~2 m/s^3 up, -3 m/s^3 down # ~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_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024]) 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_MAX = 2.0 # m/s^s max acceleration

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
5f45771d28c8e7112d474edcdd991689c6440acf a38b267bd2d44945dcd664b2a84e6cd0a6163f91

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