GM: reduce steering message rate (#27201)

* Lower active rate and raise limits to compensate * bump panda * bump panda * Update ref_commit * bump panda to master old-commit-hash: 86d86fa9da
2 years ago · 503fea8e12
parent 6b6d5320db
commit 503fea8e12
3 changed files with 5 additions and 5 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 82151aaffefbb460887d09f4f5e29092d3b669ba
+Subproject commit 7d27eb10fb32095e73f60c59a123cae08cc53719
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -11,10 +11,10 @@ Ecu = car.CarParams.Ecu

 class CarControllerParams:
  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
-  STEER_STEP = 2  # Active control frames per command (50hz)
+  STEER_STEP = 3  # Active control frames per command (~33hz)
  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
-  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 17
+  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
+  STEER_DELTA_DOWN = 25
  STEER_DRIVER_ALLOWANCE = 50
  STEER_DRIVER_MULTIPLIER = 4
  STEER_DRIVER_FACTOR = 100
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-d862b2c7d383d859db30d6c1cc665c29c7a2a9f3
+a6b17ab903022b42677abe2968f3c6e50c331980