From 78aa3aefeeed204b50834ef0c2d2498a604fe446 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Wed, 15 Feb 2023 16:01:34 -0800 Subject: [PATCH] expand to 10s --- selfdrive/controls/lib/drive_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index a332d06765..db5b24ef38 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -17,7 +17,7 @@ V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105 IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors MIN_SPEED = 1.0 -LAT_MPC_N = 16 +LAT_MPC_N = 32 LON_MPC_N = 32 CONTROL_N = 17 CAR_ROTATION_RADIUS = 0.0