From 55e688b6f2561d83a799d5e4fe17d8ca37ff9802 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 9 Mar 2025 17:49:45 +0100 Subject: [PATCH] More improvement but still not quite --- selfdrive/controls/lib/latcontrol_angle.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index fd53f20eb3..d6dbb454c6 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -7,8 +7,8 @@ from openpilot.selfdrive.controls.lib.latcontrol import LatControl STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees # Define a speed-based scaling factor similar to low_speed_factor -LOW_SPEED_X = [0, 10, 20, 30] # Speed breakpoints -LOW_SPEED_Y = [0.67, 0.77, 0.91, 1.0] # Factor reducing influence at low speeds +LOW_SPEED_X = [0, 3, 6, 10, 20, 30] # Speed breakpoints +LOW_SPEED_Y = [0, 0.33, 0.67, 0.77, 0.91, 1.0] # Factor reducing influence at low speeds class LatControlAngle(LatControl): def __init__(self, CP, CP_SP, CI):