From f4d91f71a54becb04cddba9ad62edff4573d9fd4 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Wed, 23 Feb 2022 16:03:31 +0100
Subject: [PATCH] this seems to about what my car converges to (#23836)

---
 selfdrive/car/tesla/interface.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 03012bc52e..746cd356ea 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -41,14 +41,14 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
 
     ret.steerLimitTimer = 1.0
-    ret.steerActuatorDelay = 0.1
+    ret.steerActuatorDelay = 0.25
     ret.steerRateCost = 0.5
 
     if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
       ret.mass = 2100. + STD_CARGO_KG
       ret.wheelbase = 2.959
       ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 13.5
+      ret.steerRatio = 15.0
     else:
       raise ValueError(f"Unsupported car: {candidate}")