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Adjust lateral acceleration range for torque calculation

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MoreTorque
2025-10-18 05:29:46 -05:00
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parent edfc0dfc70
commit 10e7750969
1 changed files with 1 additions and 1 deletions
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selfdrive/car/mazda/interface.py
+1 -1
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@@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
steer_torque = (sig * b) + (lateral_acceleration * c)
return float(steer_torque)
lataccel_values = np.arange(-5.0, 5.0, 0.01)
lataccel_values = np.arange(-8.0, 8.0, 0.01)
torque_values = [torque_from_lateral_accel_siglin_func(x) for x in lataccel_values]
assert min(torque_values) < -1 and max(torque_values) > 1, "The torque values should cover the range [-1, 1]"
return torque_values, lataccel_values