From e0e11d98ddc9e9ccbb3faa555ee8cef6eedc060f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Aug 2022 16:23:26 -0700 Subject: [PATCH] Add some delay for the laggy brakes Add some delay for the laggy brakes --- selfdrive/car/gm/interface.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index bdb42f97e2..7eb952f14c 100755 --- 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]