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adjust gen2 long settings

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MoreTore
2025-06-15 09:20:05 -05:00
parent dad2e790db
commit 4af4b62a91
1 changed files with 3 additions and 2 deletions
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selfdrive/car/mazda/interface.py
+3 -2
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@@ -53,12 +53,13 @@ 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.longitudinalTuning.kiV = [0.01, 0.01]
ret.startingState = True
ret.steerActuatorDelay = 0.3
ret.steerActuatorDelay = 0.335
if p.get_bool("ManualTransmission"):
ret.flags |= MazdaFlags.MANUAL_TRANSMISSION.value