Add some delay for the laggy brakes

3 years ago · e0e11d98dd
parent 992e165e46
commit e0e11d98dd
1 changed files with 1 additions and 0 deletions
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -70,6 +70,7 @@ class CarInterface(CarInterfaceBase):
    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking

    ret.longitudinalTuning.kpBP = [5., 35.]
    ret.longitudinalTuning.kpV = [2.4, 1.5]