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Add some delay for the laggy brakes

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Add some delay for the laggy brakes
pull/25354/head
Shane Smiskol 3 years ago
parent 992e165e46
commit e0e11d98dd
1 changed files with 1 additions and 0 deletions
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  1. 1
      selfdrive/car/gm/interface.py

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selfdrive/car/gm/interface.py
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@ -70,6 +70,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] 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.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.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.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5] ret.longitudinalTuning.kpV = [2.4, 1.5]

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