Ford: adjust curvature rate limits (#27427)

* fix up * Update ref_commit
2 years ago · b00eb57bb7
parent 9d64fb2d1a
commit b00eb57bb7
2 changed files with 3 additions and 3 deletions
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@ -28,8 +28,8 @@ class CarControllerParams:

  # Curvature rate limits
  # TODO: unify field names used by curvature and angle control cars
-  # ~2 m/s^3 up, -3 m/s^3 down
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.0002])
+  # ~2 m/s^3 up, ~-3 m/s^3 down
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016])
  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024])

  ACCEL_MAX = 2.0               # m/s^s max acceleration
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-5f45771d28c8e7112d474edcdd991689c6440acf
+a38b267bd2d44945dcd664b2a84e6cd0a6163f91