From 40259cd22ad23d01e63a9faa47a0cf0edcc73399 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Thu, 16 Jan 2025 23:15:13 -0700 Subject: [PATCH] dec: faster ? --- sunnypilot/selfdrive/controls/lib/dec/dec.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py index b30b5e7ff8..24d52bfa27 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/dec.py +++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py @@ -99,16 +99,16 @@ class DynamicExperimentalController: # Replace WMAC with FOF self._has_lead_filtered_prev = False - self._lead_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL) # Adjust rc for filtering + self._lead_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL) self._has_lead_filtered = False - self._slow_down_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL) + self._slow_down_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL) self._has_slow_down: bool = False - self._slowness_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL) + self._slowness_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL) self._has_slowness: bool = False - self._dangerous_ttc_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL) + self._dangerous_ttc_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL) self._has_dangerous_ttc: bool = False self._v_ego_kph = 0.