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firestar5683
2026-05-11 15:34:33 -05:00
parent 4370e9c7a3
commit 013ecbed97
3 changed files with 54 additions and 31 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+7 -7
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@@ -284,18 +284,18 @@ IONIQ_6_TRANSITION_SPEED = 10.0
IONIQ_6_PHASE_SCALE = 0.10
IONIQ_6_TURN_IN_BOOST_LEFT = 1.58
IONIQ_6_TURN_IN_BOOST_RIGHT = 1.82
IONIQ_6_UNWIND_TAPER_LEFT = 2.84
IONIQ_6_UNWIND_TAPER_LEFT = 3.05
IONIQ_6_UNWIND_TAPER_RIGHT = 6.35
IONIQ_6_FRICTION_MULT = 0.928
IONIQ_6_FRICTION_LAT_RISE = 0.20
IONIQ_6_FRICTION_JERK_RISE = 0.24
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.74
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 1.18
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 3.35
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 3.70
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 7.85
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.40
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.72
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.10
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.35
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 7.30
IONIQ_6_CENTER_TAPER_MAX = 0.082
IONIQ_6_CENTER_TAPER_LAT = 0.24
@@ -311,9 +311,9 @@ IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.19
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.06
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.14
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.48
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.64
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.13
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.45
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.82
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 3.28
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
@@ -325,7 +325,7 @@ IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.17
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.56
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.62
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.94
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5