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Updated to include deadzone for stopping

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Isaac Barham
2023-12-05 20:10:18 +00:00
parent 985778c3e3
commit 2b0bec9e65
1 changed files with 6 additions and 0 deletions
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selfdrive/car/ford/interface.py
+6
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@@ -84,6 +84,12 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"Unsupported car: {candidate}")
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.]
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [.0, .20]
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]