Partial revert, lax torque control (#26146)

* Closer to original * Update ref old-commit-hash: 1548db8962
3 years ago · 9c26b70a43
parent 95d36f02ae
commit 9c26b70a43
3 changed files with 3 additions and 4 deletions
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # friction in the steering wheel that needs to be overcome to
 # move it at all, this is compensated for too.

-LOW_SPEED_FACTOR = 100
+LOW_SPEED_FACTOR = 200


 class LatControlTorque(LatControl):
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -22,8 +22,7 @@ LATERAL_JERK_COST = 0.05
 # TODO this cost should be lowered when low
 # speed lateral control is stable on all cars
 STEERING_RATE_COST = 800.0
-
-MIN_SPEED = .3
+MIN_SPEED = 1.5


 class LateralPlanner:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-6bb7d8baae51d88dd61f0baf561e386664ddd266
+1c1287691cbdd866d9e435d5d27f59f6a027d270