mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-24 15:32:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

missed one update in latcontrol

Browse Source
This commit is contained in:
John Jones
2017-06-11 21:33:44 -04:00
parent ab03b47fc3
commit 1aebd13649
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol.py
+1 -1
View File
@@ -31,7 +31,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
steer_override, sat_count, enabled, Kp, Ki, rate):
sat_count_rate = 1./rate
sat_count_limit = 0.8 # after 0.8s of continuous saturation, an alert will be sent
sat_count_limit = 1.2 # after 0.8s of continuous saturation, an alert will be sent
error_steer = y_des - y_actual
Ui_unwind_speed = 0.3/rate #.3 per second