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whoisdomi
2026-07-24 09:14:19 -05:00
parent 9bc2b3d074
commit 3e1fe87765
1 changed files with 11 additions and 1 deletions
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selfdrive/modeld/modeld.py
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@@ -52,7 +52,17 @@ BUILTIN_MODEL_KEY = "sc2"
BUILTIN_MODEL_ALIASES = {BUILTIN_MODEL_KEY, "sc"}
LAT_SMOOTH_SECONDS = 0.1
# 2026-07-24: reverted 0.1 -> 0.0. The straight-line 0.66-0.74 Hz steering weave is a
# delay-driven loop resonance (tone freq * measured command->pose lag = 0.25 across every
# logged straight, matching liveDelay.lateralDelay per-log; confirmed via matched-pair
# straight3/straight8, 70-72 mph lead-free), not FF/friction noise -- raising the friction
# jerk deadzone (see IONIQ_6_FRICTION_JERK_DEADZONE) only moved amplitude ~2-4%, not
# frequency. Smoothing here ADDS delay and should make the resonance worse, not better;
# this reverts back toward 0.0 to shorten the loop instead. lat_delay compensation
# (see below) auto-adjusts, so no other change needed. Predicted effect: tone shifts up
# toward ~0.9 Hz with lower amplitude. Unverified until a matched 70 mph lead-free log is
# taken with this value live -- see project_ioniq6_straight_friction_weave memory.
LAT_SMOOTH_SECONDS = 0.0
LONG_SMOOTH_SECONDS = 0.3
MIN_LAT_CONTROL_SPEED = 0.3