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Add missing values to parameterize longitudinal control (#195)

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Willem Melching
2021-09-12 03:01:03 +02:00
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parent 95f9fa186f
commit 49a0ee9196
1 changed files with 2 additions and 0 deletions
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car.capnp
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@@ -419,9 +419,11 @@ struct CarParams {
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
startAccel @32 :Float32; # Required acceleraton to overcome creep braking
stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
steerControlType @34 :SteerControlType;
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN