Merge pull request commaai#66 from Gernby/patch-1

Reverted projection_factor
Gernby · Dec 31, 2018 · ba9725a · ba9725a
2 parents 3014706 + cde5896
commit ba9725a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
@@ -39,7 +39,7 @@ def __init__(self, CP):
     self.last_cloudlog_t = 0.0
     self.setup_mpc(CP.steerRateCost)
     self.smooth_factor = 2.0 * CP.steerActuatorDelay / _DT      # Multiplier for inductive component (feed forward)
-    self.projection_factor = 0.5 * CP.steerActuatorDelay      #  Mutiplier for reactive component (PI)
+    self.projection_factor = 5.0 * _DT                       #  Mutiplier for reactive component (PI)
     self.accel_limit = 2.0                                 # Desired acceleration limit to prevent "whip steer" (resistive component)
     self.ff_angle_factor = 0.5         # Kf multiplier for angle-based feed forward
     self.ff_rate_factor = 5.0         # Kf multiplier for rate-based feed forward