From 2d3a3b6c20ef19aab681007abf34fcf477265751 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 Sep 2022 19:37:16 -0700 Subject: [PATCH] lower some rates on hkg --- selfdrive/car/hyundai/values.py | 4 +++- selfdrive/car/tests/test_lateral_limits.py | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 6e22ab7b46..3f64e6ce12 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -18,7 +18,7 @@ class CarControllerParams: def __init__(self, CP): self.STEER_DELTA_UP = 3 - self.STEER_DELTA_DOWN = 7 + self.STEER_DELTA_DOWN = 3 self.STEER_DRIVER_ALLOWANCE = 50 self.STEER_DRIVER_MULTIPLIER = 2 self.STEER_DRIVER_FACTOR = 1 @@ -27,6 +27,8 @@ class CarControllerParams: if CP.carFingerprint in CANFD_CAR: self.STEER_MAX = 270 + self.STEER_DELTA_UP = 2 + self.STEER_DELTA_DOWN = 2 self.STEER_DRIVER_ALLOWANCE = 250 self.STEER_DRIVER_MULTIPLIER = 2 self.STEER_THRESHOLD = 250 diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index c0b3c8d8d6..41dac31bd0 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -10,7 +10,7 @@ from selfdrive.car.interfaces import get_torque_params MAX_LAT_UP_JERK = 2.5 # m/s^3 -MAX_LAT_UP_JERK_TOLERANCE = 0.1 # m/s^3 +MAX_LAT_UP_JERK_TOLERANCE = 0.5 # m/s^3 MIN_LAT_DOWN_JERK = 2.0 # m/s^3