MagicNumberz for tuning (commaai#105)

Reduce EonToFront Fix overpass speed being detected
SippieCup · Oct 11, 2019 · 4fc758c · 4fc758c
1 parent 4aee0bd
commit 4fc758c
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/selfdrive/car/tesla/PCC_module.py b/selfdrive/car/tesla/PCC_module.py
@@ -180,7 +180,8 @@ def __init__(self,carcontroller):
 
   def max_v_by_speed_limit(self,pedal_set_speed_ms ,speed_limit_ms, CS):
     # if more than 10 kph / 2.78 ms, consider we have speed limit
-    if (CS.maxdrivespeed > 0)  and CS.useTeslaMapData and (CS.mapAwareSpeed or (CS.baseMapSpeedLimitMPS <2.7)):
+    # if the difference is more than 20 MPH, ignore the speed limit as it is probably wrong (an overpass' speed instead of the current road)
+    if ((CS.maxdrivespeed > 0) and CS.useTeslaMapData and (CS.mapAwareSpeed or (CS.baseMapSpeedLimitMPS <2.7)) and ((pedal_set_speed_ms-speed_limit_ms) < 46.3)):
       #do we know the based speed limit?
       sl1 = 0.
       if CS.baseMapSpeedLimitMPS >= 2.7:

diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
@@ -240,7 +240,7 @@ def __init__(self, CP):
     self.radarEpasType = 0
     self.fix1916 = False
     self.forceFingerprintTesla = False
-    self.eonToFront = 0.9
+    self.eonToFront = 0.1
     #read config file
     read_config_file(self)
     ### END OF MAIN CONFIG OPTIONS ###

diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
@@ -216,7 +216,7 @@ def get_params(candidate, fingerprint, vin="", is_panda_black=False):
     ret.openpilotLongitudinalControl = True
     ret.steerLimitAlert = False
     ret.startAccel = 0.5
-    ret.steerRateCost = 1.0 
+    ret.steerRateCost = .516673
     ret.radarOffCan = not CarSettings().get_value("useTeslaRadar")
 
     return ret