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firestar5683
2025-11-06 17:21:31 -06:00
parent 9b1f36c9db
commit c26b8b282c
2 changed files with 2 additions and 2 deletions
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frogpilot/ui/qt/offroad/frogpilot_settings.cc
+1 -1
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@@ -284,7 +284,7 @@ void FrogPilotSettingsWindow::updateVariables() {
longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
startAccel = CP.getStartAccel();
steerActuatorDelay = CP.getSteerActuatorDelay();
steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 1.0;
steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
steerRatio = CP.getSteerRatio();
stopAccel = CP.getStopAccel();
stoppingDecelRate = CP.getStoppingDecelRate();
selfdrive/controls/lib/latcontrol_torque.py
+1 -1
View File
@@ -21,7 +21,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
# Additionally, there is friction in the steering wheel that needs
# to be overcome to move it at all, this is compensated for too.
KP = 1.0
KP = 0.6
KI = 0.3
KD = 0.0
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]