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Ford: params fixup (#27097)

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* reduce steer actuator delay to 0.25s

* update steer ratio
old-commit-hash: c7790d0e071255ca304638877e0f45edd6a9d372
This commit is contained in:
Cameron Clough
2023-01-25 22:03:00 -08:00
committed by GitHub
parent 483809a19a
commit 60cc30a574
1 changed files with 5 additions and 5 deletions
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selfdrive/car/ford/interface.py
+5 -5
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@@ -19,27 +19,27 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.4
ret.steerActuatorDelay = 0.25
ret.steerLimitTimer = 1.0
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7 # learned
ret.steerRatio = 17.7
ret.mass = 1625 + STD_CARGO_KG
elif candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71
ret.steerRatio = 14.3 # Copied from Focus
ret.steerRatio = 16.7
ret.mass = 1750 + STD_CARGO_KG
elif candidate == CAR.EXPLORER_MK6:
ret.wheelbase = 3.025
ret.steerRatio = 16.8 # learned
ret.steerRatio = 16.8
ret.mass = 2050 + STD_CARGO_KG
elif candidate == CAR.FOCUS_MK4:
ret.wheelbase = 2.7
ret.steerRatio = 13.8 # learned
ret.steerRatio = 15.0
ret.mass = 1350 + STD_CARGO_KG
elif candidate == CAR.MAVERICK_MK1: