fix kF value for thermal PI controller (#23871)

3 years ago · f539d9c0bc
parent a1875ac6f0
commit f539d9c0bc
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@ -240,7 +240,7 @@ def thermald_thread(end_event, hw_queue):
  thermal_config = HARDWARE.get_thermal_config()

  # TODO: use PI controller for UNO
-  controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
+  controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))

  while not end_event.is_set():
    sm.update(PANDA_STATES_TIMEOUT)