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fix kF value for thermal PI controller (#23871)

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old-commit-hash: f539d9c0bc
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Robbe Derks
2022-02-27 19:51:59 +01:00
committed by GitHub
parent 961b11e7aa
commit 1edd9bfb60
1 changed files with 1 additions and 1 deletions
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selfdrive/thermald/thermald.py
+1 -1
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@@ -240,7 +240,7 @@ def thermald_thread(end_event, hw_queue):
thermal_config = HARDWARE.get_thermal_config()
# TODO: use PI controller for UNO
controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
while not end_event.is_set():
sm.update(PANDA_STATES_TIMEOUT)