From 4af4b62a918de46dbfd317f4e6788af7ea71cf8f Mon Sep 17 00:00:00 2001 From: MoreTore Date: Sun, 15 Jun 2025 09:20:05 -0500 Subject: [PATCH] adjust gen2 long settings --- selfdrive/car/mazda/interface.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index c2cadc896a..c189821253 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -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