Add comment about vEgoStarting to interfaces (commaai#23327)

budney · Jan 4, 2022 · 0148b23 · 0148b23
1 parent 9295066
commit 0148b23
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -89,7 +89,7 @@ def get_std_params(candidate, fingerprint):
     ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
     ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
     ret.vEgoStopping = 0.5
-    ret.vEgoStarting = 0.5
+    ret.vEgoStarting = 0.5  # needs to be >= vEgoStopping to avoid state transition oscillation
     ret.stoppingControl = True
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]