From 49a0ee9196ce013d422febdf61847d87f1f57627 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 12 Sep 2021 03:01:03 +0200 Subject: [PATCH] Add missing values to parameterize longitudinal control (#195) --- car.capnp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/car.capnp b/car.capnp index 686e0e2..a1761a9 100644 --- a/car.capnp +++ b/car.capnp @@ -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