From bc793ab8437605e76584cd7c2d39577db30bc4be Mon Sep 17 00:00:00 2001 From: John Jones Date: Sun, 11 Jun 2017 21:33:44 -0400 Subject: [PATCH] missed one update in latcontrol old-commit-hash: 6e824a2c22e4c6073bec60b764bbef219a1c01a2 --- selfdrive/controls/lib/latcontrol.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 8c9003562b..8af1bb8a5a 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -31,7 +31,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max, steer_override, sat_count, enabled, Kp, Ki, rate): sat_count_rate = 1./rate - sat_count_limit = 0.8 # after 0.8s of continuous saturation, an alert will be sent + sat_count_limit = 1.2 # after 0.8s of continuous saturation, an alert will be sent error_steer = y_des - y_actual Ui_unwind_speed = 0.3/rate #.3 per second