From 295f246455c71ff9c56056b585a790e537a764db Mon Sep 17 00:00:00 2001 From: MoreTore Date: Wed, 21 May 2025 10:27:14 -0500 Subject: [PATCH] raise acc delay and actuator delay --- selfdrive/car/mazda/interface.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 6765aa44b..6c373316e 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -93,12 +93,13 @@ class CarInterface(CarInterfaceBase): ret.experimentalLongitudinalAvailable = True ret.stopAccel = -.5 ret.vEgoStarting = .2 + ret.longitudinalActuatorDelay = 0.35 # gas is 0.25s and brake looks like 0.5 ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [0.0, 0.0, 0.0] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.1, 0.1] ret.startingState = True - ret.steerActuatorDelay = 0.3 + ret.steerActuatorDelay = 0.335 ret.steerLimitTimer = 0.8