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Controls - Lateral Tuning - Steer Ratio

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Use a custom steer ratio as opposed to comma's auto tune value.
This commit is contained in:
FrogAi
2024-05-11 22:12:19 -07:00
parent e9bafa6ea3
commit b2e290e186
2 changed files with 6 additions and 1 deletions
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selfdrive/locationd/paramsd.py
+5
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@@ -133,6 +133,11 @@ def main():
CP = msg
cloudlog.info("paramsd got CarParams")
steer_ratio_stock = params_reader.get_float("SteerRatioStock")
if steer_ratio_stock != CP.steerRatio:
params_reader.put_float_nonblocking("SteerRatio", CP.steerRatio)
params_reader.put_float_nonblocking("SteerRatioStock", CP.steerRatio)
min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
params = params_reader.get("LiveParameters")