From 1edd9bfb60cc1d99fa838aba02f19acf6936d23e Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Sun, 27 Feb 2022 19:51:59 +0100 Subject: [PATCH] fix kF value for thermal PI controller (#23871) old-commit-hash: f539d9c0bce0b3b992ab1a3ff128de01fefa3c41 --- selfdrive/thermald/thermald.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 113ffaa04c..13fd255351 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -240,7 +240,7 @@ def thermald_thread(end_event, hw_queue): thermal_config = HARDWARE.get_thermal_config() # TODO: use PI controller for UNO - controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML)) + controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML)) while not end_event.is_set(): sm.update(PANDA_STATES_TIMEOUT)