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firestar5683
2026-06-12 10:50:14 -05:00
parent 87f1334ce9
commit 491ec0c0b8
1 changed files with 6 additions and 6 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+6 -6
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@@ -48,12 +48,12 @@ UNWIND_D_DES_THRESHOLD = -1.0
UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
MIN_LATERAL_CONTROL_SPEED = 0.3
LOW_SPEED_ANGLE_ASSIST_START_SPEED = 0.25
LOW_SPEED_ANGLE_ASSIST_FULL_SPEED = 0.6
LOW_SPEED_ANGLE_ASSIST_FADE_START_SPEED = 2.5
LOW_SPEED_ANGLE_ASSIST_END_SPEED = 5.0
LOW_SPEED_ANGLE_ASSIST_ERROR_DEADZONE_DEG = 3.0
LOW_SPEED_ANGLE_ASSIST_ERROR_RISE_DEG = 10.0
LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE = 0.55
LOW_SPEED_ANGLE_ASSIST_FULL_SPEED = 0.5
LOW_SPEED_ANGLE_ASSIST_FADE_START_SPEED = 2.2
LOW_SPEED_ANGLE_ASSIST_END_SPEED = 3.2
LOW_SPEED_ANGLE_ASSIST_ERROR_DEADZONE_DEG = 4.5
LOW_SPEED_ANGLE_ASSIST_ERROR_RISE_DEG = 12.0
LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE = 0.36
CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20
CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.00