From 527788b6203a30a28fed5b8e7c8c7dd6776a3f86 Mon Sep 17 00:00:00 2001 From: George Hotz Date: Sun, 25 Nov 2018 13:35:56 -0600 Subject: [PATCH] decreased time lapse for angle-based FF adjust --- selfdrive/controls/lib/latcontrol.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index a2c8f3668709cd..53d13cd516dd25 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -206,7 +206,7 @@ def update(self, active, v_ego, angle_steers, angle_rate, steer_override, d_poly self.feed_forward = (((self.ff_smoothing - 1.0) * self.feed_forward) + (v_ego**2 * self.feed_forward_angle)) / self.ff_smoothing if self.last_ff_a == 0.0: self.last_ff_r = 0.0 - self.last_ff_a = sec_since_boot() + 0.5 + self.last_ff_a = sec_since_boot() + 0.25 else: ff_type = "r" self.feed_forward = (((self.ff_smoothing - 1.0) * self.feed_forward) + (v_ego**2 * self.feed_forward_rate)) / self.ff_smoothing @@ -225,7 +225,7 @@ def update(self, active, v_ego, angle_steers, angle_rate, steer_override, d_poly self.ff_angle_factor *= 1.005 else: self.ff_angle_factor *= 0.995 - self.last_ff_a = sec_since_boot() + 0.5 + self.last_ff_a = sec_since_boot() + 0.25 self.save_steering = True elif ff_type == "r" and self.last_ff_r != 0.0 and sec_since_boot() > self.last_ff_r: if (self.pid.p > 0) == (self.feed_forward > 0):