From 038a5e20e2295ac7a25bb02848860f9723860639 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sat, 29 Nov 2025 22:29:43 -0600 Subject: [PATCH] Revert "Try centering gain" This reverts commit 7c1cad687cf518c6c26e9860cc49e5bc5581a6c4. --- selfdrive/controls/lib/desire_helper.py | 4 ++-- selfdrive/controls/lib/latcontrol_torque.py | 7 ------- 2 files changed, 2 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 72aa25907..5048add45 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -98,8 +98,8 @@ class DesireHelper: # LaneChangeState.laneChangeStarting elif self.lane_change_state == LaneChangeState.laneChangeStarting: - # fade out over 1s - self.lane_change_ll_prob = max(self.lane_change_ll_prob - 1.0 * DT_MDL, 0.0) + # fade out over .5s + self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0) # 98% certainty if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01: diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f94051344..cf4c9fe6b 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -82,13 +82,6 @@ class LatControlTorque(LatControl): measurement = measured_curvature * CS.vEgo ** 2 error = setpoint - measurement - # Lane centering correction for better center-lane keeping - CENTERING_GAIN_BP = [0, 10, 20, 30] # m/s breakpoints - CENTERING_GAIN_V = [0.15, 0.12, 0.08, 0.05] # correction gains - centering_gain = np.interp(CS.vEgo, CENTERING_GAIN_BP, CENTERING_GAIN_V) - lane_centering_correction = centering_gain * error - error += lane_centering_correction - # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(error) ff = gravity_adjusted_future_lateral_accel