test hax to torque control

selfdrive/controls/lib/latcontrol_torque.py

@@ -5,7 +5,7 @@ from common.numpy_fast import interp
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 from selfdrive.controls.lib.pid import PIDController
 from selfdrive.controls.lib.drive_helpers import apply_deadzone
-from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+#from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
 # Lateral acceleration achieved by a specific car correlates to
@@ -62,7 +62,9 @@ class LatControlTorque(LatControl):
       error = setpoint - measurement
       pid_log.error = error
 
-      ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
+      # ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
+      # test hax - don't double down on VW roll comp
+      ff = desired_lateral_accel
       # convert friction into lateral accel units for feedforward
       friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf