higher delay compensation

update changelog
LexusRXopenpilotUG · Aug 12, 2021 · d8c20ee · d8c20ee
1 parent c0748a0
commit d8c20ee
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diff --git a/SA_RELEASES.md b/SA_RELEASES.md
@@ -1,7 +1,7 @@
 Stock Additions Update 1 - 2021-08-XX (0.8.7)
 ===
  * Update SA to 0.8.7!
- * Variable longitudinal lag by speed
+ * Variable longitudinal delay compensation by speed
 
 Stock Additions Update 3 - 2021-05-03 (0.8.2)
 ===

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
@@ -83,7 +83,7 @@ def update(self, active, CS, CP, long_plan, extras):
     # Interp control trajectory
     # TODO estimate car specific lag, use .5s for now
     if len(long_plan.speeds) == CONTROL_N:
-      accel_delay = interp(CS.vEgo, [4.4704, 35.7632], [0.15, 0.3])  # 10 to 80 mph
+      accel_delay = interp(CS.vEgo, [4.4704, 35.7632], [0.2, 0.4])  # 10 to 80 mph
       v_target = interp(accel_delay, T_IDXS[:CONTROL_N], long_plan.speeds)
       v_target_future = long_plan.speeds[-1]
       a_target = interp(accel_delay, T_IDXS[:CONTROL_N], long_plan.accels)