From e851dd250d16d039329fdb2dd72bd4aacbf66cdb Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 20 Mar 2025 13:50:04 -0400 Subject: [PATCH] TODO-SP --- sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 78e7028a92..3b6f09443e 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -65,6 +65,8 @@ class LatControlTorqueExtBase: # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent # using a "future" value that is actually planned to occur before the "current" desired # value, which is offset by the steerActuatorDelay. + # TODO-SP: Reevaluate lookahead v values that determines how low a desired lateral jerk signal needs to + # persist in order to be used. self.friction_look_ahead_v = [1.4, 2.0] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments self.friction_look_ahead_bp = [9.0, 30.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments