From 3e1fe8776513be12ab59245f2d967ea8efadae00 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Fri, 24 Jul 2026 09:14:19 -0500 Subject: [PATCH] str8 --- selfdrive/modeld/modeld.py | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 079a46234..641c8b049 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -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