mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-07 14:42:08 +08:00
Dead Cow Gully
This commit is contained in:
firestar5683
@@ -61,6 +61,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"HardwareSerial", {PERSISTENT, STRING}},
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{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
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{"HondaGasFactorParams", {PERSISTENT, FLOAT}},
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{"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
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{"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
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{"HondaWindFactorParams", {PERSISTENT, FLOAT}},
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{"InstallDate", {PERSISTENT, TIME}},
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{"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
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@@ -187,13 +187,19 @@ def get_testing_ground_1_brake_switch_bias(v_ego: float) -> int:
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return int(round(np.interp(v_ego, [0.0, 6.0, 15.0, 30.0], [40.0, 85.0, 130.0, 170.0])))
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def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool) -> float:
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def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool,
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lead_visible: bool = False, set_speed_error: float = 0.0) -> float:
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if not enabled or accel <= 0.0 or v_ego < 12.0:
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return accel
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low_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.95, 0.88, 0.82, 0.76]))
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mid_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.98, 0.94, 0.89, 0.84]))
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if lead_visible and set_speed_error > 0.0:
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follow_relief = float(np.interp(set_speed_error, [0.0, 1.0, 2.5, 4.0, 6.0], [0.0, 0.08, 0.18, 0.35, 0.55]))
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low_scale += (1.0 - low_scale) * follow_relief
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mid_scale += (1.0 - mid_scale) * follow_relief
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if accel <= 0.12:
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return accel * low_scale
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if accel <= 0.35:
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@@ -939,7 +945,13 @@ class CarController(CarControllerBase):
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getattr(self.CP, "transmissionType", None) == TransmissionType.automatic and
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not self.CP.enableGasInterceptorDEPRECATED
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):
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accel_input = shape_truck_positive_accel(accel_input, CS.out.vEgo, True)
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accel_input = shape_truck_positive_accel(
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accel_input,
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CS.out.vEgo,
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True,
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lead_visible=CC.hudControl.leadVisible,
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set_speed_error=max(CC.hudControl.setSpeed - CS.out.vEgo, 0.0),
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)
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accel_cmd = float(np.clip(accel_input, self.params.ACCEL_MIN, accel_max))
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torque = self.tireRadius * ((self.mass * accel_cmd) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
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@@ -817,6 +817,21 @@ def test_shape_truck_positive_accel_is_inactive_when_disabled_or_low_speed():
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assert shape_truck_positive_accel(0.12, 6.0, True) == 0.12
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def test_shape_truck_positive_accel_preserves_more_follow_authority_with_lead():
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base = shape_truck_positive_accel(0.28, 26.0, True)
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relieved = shape_truck_positive_accel(0.28, 26.0, True, lead_visible=True, set_speed_error=6.0)
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assert relieved > base
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assert relieved < 0.28
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def test_shape_truck_positive_accel_does_not_relax_without_speed_error():
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base = shape_truck_positive_accel(0.28, 26.0, True)
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no_error = shape_truck_positive_accel(0.28, 26.0, True, lead_visible=True, set_speed_error=0.0)
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assert no_error == base
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def test_use_interceptor_sng_launch_requires_actual_near_stop():
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CP = SimpleNamespace(vEgoStarting=0.25)
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@@ -69,6 +69,8 @@ DEFAULT_ANGLE_SMOOTHING_ALPHA_V = [0.2, 0.1, 0.0]
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EV9_HIGH_ANGLE_GAIN_BP = [70.0, 120.0, 220.0, 320.0]
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EV9_HIGH_ANGLE_GAIN_CAP_V = [0.85, 0.55, 0.30, 0.16]
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EV9_HIGH_ANGLE_GAIN_MIN = 0.004
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EV9_DRIVER_OVERRIDE_GAIN_BP = [125.0, 250.0, 375.0]
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EV9_DRIVER_OVERRIDE_GAIN_CAP_V = [0.70, 0.12, 0.0]
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def egmp_dynamic_longitudinal_tuning(CP) -> bool:
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@@ -246,12 +248,20 @@ def compute_torque_reduction_gain(steering_torque, v_ego, lat_active, last_gain)
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return round(gain / 0.004) * 0.004
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def apply_ev9_high_angle_gain_cap(CP, gain: float, steering_angle_deg: float, lat_active: bool) -> float:
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def apply_ev9_high_angle_gain_cap(CP, gain: float, steering_angle_deg: float, lat_active: bool,
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steering_torque: float = 0.0, steering_pressed: bool = False) -> float:
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if CP.carFingerprint != CAR.KIA_EV9 or not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING or not lat_active:
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return gain
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cap = float(np.interp(abs(steering_angle_deg), EV9_HIGH_ANGLE_GAIN_BP, EV9_HIGH_ANGLE_GAIN_CAP_V))
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return max(EV9_HIGH_ANGLE_GAIN_MIN, min(gain, cap))
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gain = max(EV9_HIGH_ANGLE_GAIN_MIN, min(gain, cap))
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if steering_pressed or abs(steering_torque) >= EV9_DRIVER_OVERRIDE_GAIN_BP[0]:
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driver_override_cap = float(np.interp(abs(steering_torque), EV9_DRIVER_OVERRIDE_GAIN_BP,
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EV9_DRIVER_OVERRIDE_GAIN_CAP_V))
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gain = min(gain, driver_override_cap)
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return gain
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def process_hud_alert(enabled, fingerprint, hud_control):
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@@ -410,7 +420,8 @@ class CarController(CarControllerBase):
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CS.out.steeringAngleDeg, CC.latActive, self.params, self.BASELINE_VM)
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apply_torque = compute_torque_reduction_gain(CS.out.steeringTorque, v_ego_raw, CC.latActive, self.apply_torque_last)
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apply_torque = apply_ev9_high_angle_gain_cap(self.CP, apply_torque, CS.out.steeringAngleDeg, CC.latActive)
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apply_torque = apply_ev9_high_angle_gain_cap(self.CP, apply_torque, CS.out.steeringAngleDeg, CC.latActive,
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CS.out.steeringTorque, CS.out.steeringPressed)
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apply_steer_req = CC.latActive and apply_torque != 0.0
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torque_fault = False
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@@ -138,7 +138,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
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"LKA_RHLnWrnSta": 0,
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"LKA_HndsoffSnd": 0,
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"LKA_StrSnd": 0,
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"LKA_SysIndReq": 2 if enabled else 1,
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"LKA_SysIndReq": 2 if enabled or lat_active else 1,
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"StrTqReqVal": 0,
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"ActToiSta": 0,
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"ToiFltSta": 0,
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@@ -148,6 +148,8 @@ class CarInterface(CarInterfaceBase):
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if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
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if candidate == CAR.KIA_EV9:
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ret.steerAtStandstill = True
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if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
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@@ -297,7 +297,17 @@ class TestHyundaiFingerprint:
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assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 320.0, True) == pytest.approx(0.16)
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assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.0, 320.0, True) > 0.0
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assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 320.0, False) == pytest.approx(0.70)
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assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 30.0, True, 250.0, True) == pytest.approx(0.12)
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assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 30.0, True, 400.0, True) == pytest.approx(0.0)
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assert apply_ev9_high_angle_gain_cap(sportage_cp, 0.70, 320.0, True) == pytest.approx(0.70)
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assert apply_ev9_high_angle_gain_cap(sportage_cp, 0.70, 30.0, True, 400.0, True) == pytest.approx(0.70)
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def test_ev9_allows_lateral_at_standstill_without_changing_other_angle_platforms(self):
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ev9_cp = CarInterface.get_params(CAR.KIA_EV9, gen_empty_fingerprint(), [], False, False, False, None)
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sportage_cp = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, gen_empty_fingerprint(), [], False, False, False, None)
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assert ev9_cp.steerAtStandstill
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assert not sportage_cp.steerAtStandstill
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def test_ccnc_hda2_lka_layout_does_not_set_ccnc_safety_param(self):
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fingerprint = gen_empty_fingerprint()
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@@ -1848,7 +1858,7 @@ class TestHyundaiFingerprint:
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"DAMP_FACTOR": 0,
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}
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msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 0.44, -31.5,
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msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, False, True, 0.44, -31.5,
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lkas_base_values=stock_lkas, lka_icon=2)
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lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
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assert len(lkas_msgs) == 1
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@@ -26,7 +26,7 @@ ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3 # m/s^2 / frame
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ACCEL_PID_UNWIND = 0.03 * DT_CTRL * 3 # m/s^2 / frame
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PRIUS_INTEGRAL_MISMATCH_UNWIND = 8.0
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PRIUS_POSITIVE_FEEDFORWARD_SCALE = 0.7
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PRIUS_CRUISE_FEEDFORWARD_SCALE = 0.85
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PRIUS_CRUISE_FEEDFORWARD_SCALE = 1.0
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MAX_PITCH_COMPENSATION = 1.5 # m/s^2
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TOYOTA_COAST_BRAKE_MIN_SPEED = 15.0 # m/s
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@@ -306,7 +306,7 @@ class TestToyotaCarController:
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def test_prius_positive_feedforward_scale_restores_cruise_authority(self):
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assert get_prius_positive_feedforward_scale(20.0) > get_prius_positive_feedforward_scale(8.0)
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assert abs(get_prius_positive_feedforward_scale(20.0) - 0.85) < 1e-6
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assert abs(get_prius_positive_feedforward_scale(20.0) - 1.0) < 1e-6
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def test_sng_hack_clears_existing_standstill_latch(self):
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controller = self._make_controller(standstill_req=True, last_standstill=True)
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@@ -7,11 +7,28 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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from openpilot.common.pid import PIDController
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HONDA_PID_GAIN_SCALE_MIN = 0.1
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HONDA_PID_GAIN_SCALE_MAX = 4.0
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def civic_bosch_modified_lateral_testing_ground_active() -> bool:
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return testing_ground.use("8", "B")
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def get_honda_lateral_pid_gain_scale(value) -> float:
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try:
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scale = float(value)
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except (TypeError, ValueError):
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return 1.0
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if not math.isfinite(scale):
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return 1.0
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return min(max(scale, HONDA_PID_GAIN_SCALE_MIN), HONDA_PID_GAIN_SCALE_MAX)
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def scale_lateral_pid_gain_values(values, scale: float) -> list[float]:
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return [float(value) * scale for value in values]
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def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
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abs_angle = abs(desired_angle_deg)
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speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
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@@ -67,18 +84,41 @@ def get_civic_bosch_modified_pid_output_alpha(desired_angle_deg: float, desired_
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class LatControlPID(LatControl):
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def __init__(self, CP, CI, dt):
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super().__init__(CP, CI, dt)
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self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
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(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
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self.base_kp_bp = [float(value) for value in CP.lateralTuning.pid.kpBP]
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self.base_kp_v = [float(value) for value in CP.lateralTuning.pid.kpV]
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self.base_ki_bp = [float(value) for value in CP.lateralTuning.pid.kiBP]
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self.base_ki_v = [float(value) for value in CP.lateralTuning.pid.kiV]
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self.pid = PIDController((self.base_kp_bp, self.base_kp_v),
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(self.base_ki_bp, self.base_ki_v),
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pos_limit=self.steer_max, neg_limit=-self.steer_max)
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self.ff_factor = CP.lateralTuning.pid.kf
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self.get_steer_feedforward = CI.get_steer_feedforward_function()
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self.is_honda_pid_lateral = CP.brand == "honda"
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self.honda_lateral_pid_kp_scale = 1.0
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self.honda_lateral_pid_ki_scale = 1.0
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self.is_civic_bosch_modified = CP.carFingerprint == HONDA.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
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self.prev_angle_steers_des_no_offset = 0.0
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self.modified_civic_steering_pressed_filter_s = 0.0
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self.modified_civic_steering_pressed_prev = False
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self.prev_output_torque = 0.0
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def update_honda_lateral_pid_gain_scale(self, starpilot_toggles):
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if not self.is_honda_pid_lateral:
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return
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kp_scale = get_honda_lateral_pid_gain_scale(getattr(starpilot_toggles, "honda_lateral_pid_kp_scale", 1.0))
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ki_scale = get_honda_lateral_pid_gain_scale(getattr(starpilot_toggles, "honda_lateral_pid_ki_scale", 1.0))
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if math.isclose(kp_scale, self.honda_lateral_pid_kp_scale) and math.isclose(ki_scale, self.honda_lateral_pid_ki_scale):
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return
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self.honda_lateral_pid_kp_scale = kp_scale
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self.honda_lateral_pid_ki_scale = ki_scale
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self.pid._k_p = [self.base_kp_bp, scale_lateral_pid_gain_values(self.base_kp_v, kp_scale)]
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self.pid._k_i = [self.base_ki_bp, scale_lateral_pid_gain_values(self.base_ki_v, ki_scale)]
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def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):
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self.update_honda_lateral_pid_gain_scale(starpilot_toggles)
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pid_log = log.ControlsState.LateralPIDState.new_message()
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pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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pid_log.steeringRateDeg = float(CS.steeringRateDeg)
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@@ -45,6 +45,27 @@ def get_bolt_acc_pedal_friction_bias(output_accel, a_target, v_ego):
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return float(min(authority_gap * 0.30, max_bias) * speed_factor)
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def get_bolt_acc_pedal_feedforward_gain(feedforward_gain, a_target, v_ego, pedal_regen_limit, last_output_accel):
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effective_gain = feedforward_gain
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if a_target >= 0.0:
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return effective_gain
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restore = 0.0
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if a_target < pedal_regen_limit:
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friction_gap = pedal_regen_limit - a_target
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restore = float(interp(friction_gap, [0.0, 0.25, 0.75], [0.0, 0.6, 1.0]))
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if v_ego > 5.0 and a_target < -1.10:
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authority_gap = max(0.0, abs(a_target) - abs(min(last_output_accel, 0.0)))
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target_restore = float(interp(abs(a_target), [1.1, 1.6, 2.2, 3.0], [0.0, 0.25, 0.55, 1.0]))
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gap_restore = float(interp(authority_gap, [0.2, 0.6, 1.0, 1.6], [0.0, 0.25, 0.60, 1.0]))
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speed_factor = float(interp(v_ego, [5.0, 8.0, 12.0, 18.0], [0.0, 0.35, 0.75, 1.0]))
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restore = max(restore, max(target_restore, gap_restore) * speed_factor)
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return float(feedforward_gain + ((1.0 - feedforward_gain) * clip(restore, 0.0, 1.0)))
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def long_control_state_trans(CP, active, long_control_state, v_ego,
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should_stop, brake_pressed, cruise_standstill, starpilot_toggles,
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allow_stopping_release=True):
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@@ -346,12 +367,9 @@ class LongControl:
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return feedforward
|
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pedal_regen_limit = float(interp(v_ego, BOLT_ACC_PEDAL_REGEN_LIMIT_BP, BOLT_ACC_PEDAL_REGEN_LIMIT_V))
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if a_target >= pedal_regen_limit:
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return feedforward
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friction_gap = pedal_regen_limit - a_target
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gain_restore = float(interp(friction_gap, [0.0, 0.25, 0.75], [0.0, 0.6, 1.0]))
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effective_gain = self.feedforward_gain + ((1.0 - self.feedforward_gain) * gain_restore)
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effective_gain = get_bolt_acc_pedal_feedforward_gain(
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self.feedforward_gain, a_target, v_ego, pedal_regen_limit, self.last_output_accel,
|
||||
)
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return a_target * effective_gain
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||||
|
||||
def update(self, active, CS, a_target, should_stop, accel_limits, starpilot_toggles):
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||||
|
||||
@@ -707,6 +707,24 @@ class TestLatControl:
|
||||
|
||||
assert tapered_output == pytest.approx(base_output)
|
||||
|
||||
def test_honda_pid_gain_scales_update_live_from_opendbc_baseline(self):
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||||
controller, VM, CS, params, _ = self._build_pid_controller(HONDA.HONDA_ACCORD)
|
||||
base_kp_v = list(controller.base_kp_v)
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||||
base_ki_v = list(controller.base_ki_v)
|
||||
|
||||
starpilot_toggles = SimpleNamespace(honda_lateral_pid_kp_scale=1.5, honda_lateral_pid_ki_scale=0.75)
|
||||
controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
|
||||
|
||||
assert controller.pid._k_p[1] == pytest.approx([value * 1.5 for value in base_kp_v])
|
||||
assert controller.pid._k_i[1] == pytest.approx([value * 0.75 for value in base_ki_v])
|
||||
|
||||
starpilot_toggles.honda_lateral_pid_kp_scale = 2.0
|
||||
starpilot_toggles.honda_lateral_pid_ki_scale = 1.25
|
||||
controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
|
||||
|
||||
assert controller.pid._k_p[1] == pytest.approx([value * 2.0 for value in base_kp_v])
|
||||
assert controller.pid._k_i[1] == pytest.approx([value * 1.25 for value in base_ki_v])
|
||||
|
||||
def test_modified_civic_b_torque_path_uses_fixed_friction_threshold(self, monkeypatch):
|
||||
CarInterface = interfaces[HONDA.HONDA_CIVIC_BOSCH]
|
||||
CP = CarInterface.get_non_essential_params(HONDA.HONDA_CIVIC_BOSCH)
|
||||
|
||||
@@ -5,7 +5,11 @@ import pytest
|
||||
|
||||
import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
|
||||
from opendbc.car.gm.values import CAR, GMFlags
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import (
|
||||
LongControl,
|
||||
LongCtrlState,
|
||||
long_control_state_trans,
|
||||
)
|
||||
|
||||
|
||||
def make_toggles(**overrides):
|
||||
@@ -510,12 +514,30 @@ def test_bolt_acc_pedal_friction_feedforward_blends_back_in_for_small_friction_r
|
||||
pedal_regen_limit = float(longcontrol.interp(20.0, longcontrol.BOLT_ACC_PEDAL_REGEN_LIMIT_BP,
|
||||
longcontrol.BOLT_ACC_PEDAL_REGEN_LIMIT_V))
|
||||
a_target = pedal_regen_limit - 0.10
|
||||
gain_restore = float(longcontrol.interp(0.10, [0.0, 0.25, 0.75], [0.0, 0.6, 1.0]))
|
||||
expected = a_target * (0.20 + ((1.0 - 0.20) * gain_restore))
|
||||
expected_gain = longcontrol.get_bolt_acc_pedal_feedforward_gain(0.20, a_target, 20.0, pedal_regen_limit, 0.0)
|
||||
expected = a_target * expected_gain
|
||||
|
||||
assert lc._get_longitudinal_feedforward(a_target, 20.0) == pytest.approx(expected)
|
||||
|
||||
|
||||
def test_bolt_acc_pedal_feedforward_gain_stays_base_for_mild_regen():
|
||||
gain = longcontrol.get_bolt_acc_pedal_feedforward_gain(0.2, -1.0, 10.0, -2.75, -0.4)
|
||||
|
||||
assert gain == pytest.approx(0.2)
|
||||
|
||||
|
||||
def test_bolt_acc_pedal_feedforward_gain_restores_for_authority_gap():
|
||||
gain = longcontrol.get_bolt_acc_pedal_feedforward_gain(0.2, -1.83, 12.38, -2.79, -0.70)
|
||||
|
||||
assert gain > 0.55
|
||||
|
||||
|
||||
def test_bolt_acc_pedal_feedforward_gain_restores_near_friction_handoff():
|
||||
gain = longcontrol.get_bolt_acc_pedal_feedforward_gain(0.2, -2.63, 9.35, -2.69, -1.30)
|
||||
|
||||
assert gain > 0.45
|
||||
|
||||
|
||||
def test_bolt_cc_pedal_friction_feedforward_remains_fully_scaled_by_kf():
|
||||
CP = make_longcontrol_cp(
|
||||
brand="gm",
|
||||
|
||||
@@ -686,6 +686,9 @@ class StarPilotVariables:
|
||||
toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
|
||||
toggle.steerRatio = self.get_value("SteerRatio", cast=float, condition=advanced_lateral_tuning, default=steerRatio, min=steerRatio * 0.5, max=steerRatio * 1.5)
|
||||
toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
|
||||
honda_pid_lateral = toggle.car_make == "honda" and CP.lateralTuning.which() == "pid" and not is_angle_car
|
||||
toggle.honda_lateral_pid_kp_scale = self.get_value("HondaLateralPidKpScale", cast=float, condition=honda_pid_lateral, default=1.0, min=0.1, max=4.0)
|
||||
toggle.honda_lateral_pid_ki_scale = self.get_value("HondaLateralPidKiScale", cast=float, condition=honda_pid_lateral, default=1.0, min=0.1, max=4.0)
|
||||
|
||||
advanced_longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("AdvancedLongitudinalTune")
|
||||
ev_vehicle = default_ev_tuning_enabled(CP)
|
||||
@@ -1357,6 +1360,8 @@ class StarPilotVariables:
|
||||
toggle.radar_tracks = False
|
||||
toggle.show_stopping_point = False
|
||||
toggle.show_stopping_point_metrics = False
|
||||
toggle.honda_lateral_pid_kp_scale = 1.0
|
||||
toggle.honda_lateral_pid_ki_scale = 1.0
|
||||
|
||||
toggle.goat_scream_alert = False
|
||||
toggle.goat_scream_critical_alerts = False
|
||||
|
||||
@@ -3616,6 +3616,28 @@
|
||||
"step": 0.01,
|
||||
"precision": 2
|
||||
},
|
||||
{
|
||||
"key": "HondaLateralPidKpScale",
|
||||
"label": "Honda PID Kp Scale",
|
||||
"description": "Scale the active Honda lateralTuning.pid.kpV values from openDBC. Applies live to Honda PID lateral only.",
|
||||
"data_type": "float",
|
||||
"ui_type": "numeric",
|
||||
"min": 0.1,
|
||||
"max": 4.0,
|
||||
"step": 0.05,
|
||||
"precision": 2
|
||||
},
|
||||
{
|
||||
"key": "HondaLateralPidKiScale",
|
||||
"label": "Honda PID Ki Scale",
|
||||
"description": "Scale the active Honda lateralTuning.pid.kiV values from openDBC. Applies live to Honda PID lateral only.",
|
||||
"data_type": "float",
|
||||
"ui_type": "numeric",
|
||||
"min": 0.1,
|
||||
"max": 4.0,
|
||||
"step": 0.05,
|
||||
"precision": 2
|
||||
},
|
||||
{
|
||||
"key": "AllowImpossibleAcceleration",
|
||||
"label": "Allow Impossible Acceleration",
|
||||
|
||||
Reference in New Issue
Block a user