Fixes wobble on new CRV #269
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@pd0wm I don't think this is specific to high speed, seems to oscillate at any speed, if so, is this an appropriate fix? Current PI Values: .8 / .24 New PI Values: .6 / .18 |
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How did you take does graph? I wanted to fix the oscillation for the Prius Prime so I lower the same value and it seems to work well. It's not perfect but it's much better. By the way, I think the ret.steerKpV is to center the car in line. From experience, when you lower the value, the car stay in lane but more to le left. |
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Those graphs are made in cabana -> cabana.comma.ai |
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b875f970f Stricter pylint daf3bc988 HRV correct GAS_PEDAL (#266) c25b757ac Update X-trail HUD message name, added SPEED_MPH signal (#269) 1f1ff225b enable almost all flake8 checks 4c59163aa two spaces before inline comment git-subtree-dir: opendbc git-subtree-split: b875f970fc6ddad5befe2f6831f4bcda354d8bea
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b875f970f Stricter pylint daf3bc988 HRV correct GAS_PEDAL (#266) c25b757ac Update X-trail HUD message name, added SPEED_MPH signal (#269) 1f1ff225b enable almost all flake8 checks 4c59163aa two spaces before inline comment git-subtree-dir: opendbc git-subtree-split: b875f970fc6ddad5befe2f6831f4bcda354d8bea
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b875f970f Stricter pylint daf3bc988 HRV correct GAS_PEDAL (#266) c25b757ac Update X-trail HUD message name, added SPEED_MPH signal (#269) 1f1ff225b enable almost all flake8 checks 4c59163aa two spaces before inline comment git-subtree-dir: opendbc git-subtree-split: b875f970fc6ddad5befe2f6831f4bcda354d8bea
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b875f970f Stricter pylint daf3bc988 HRV correct GAS_PEDAL (#266) c25b757ac Update X-trail HUD message name, added SPEED_MPH signal (#269) 1f1ff225b enable almost all flake8 checks 4c59163aa two spaces before inline comment git-subtree-dir: opendbc git-subtree-split: b875f970fc6ddad5befe2f6831f4bcda354d8bea
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b875f970f Stricter pylint daf3bc988 HRV correct GAS_PEDAL (#266) c25b757ac Update X-trail HUD message name, added SPEED_MPH signal (#269) 1f1ff225b enable almost all flake8 checks 4c59163aa two spaces before inline comment git-subtree-dir: opendbc git-subtree-split: b875f970fc6ddad5befe2f6831f4bcda354d8bea
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b875f970f Stricter pylint daf3bc988 HRV correct GAS_PEDAL (#266) c25b757ac Update X-trail HUD message name, added SPEED_MPH signal (#269) 1f1ff225b enable almost all flake8 checks 4c59163aa two spaces before inline comment git-subtree-dir: opendbc git-subtree-split: b875f970fc6ddad5befe2f6831f4bcda354d8bea
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b875f970f Stricter pylint daf3bc988 HRV correct GAS_PEDAL (#266) c25b757ac Update X-trail HUD message name, added SPEED_MPH signal (#269) 1f1ff225b enable almost all flake8 checks 4c59163aa two spaces before inline comment git-subtree-dir: opendbc git-subtree-split: b875f970fc6ddad5befe2f6831f4bcda354d8bea
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Prior to actuator delay update, I felt like .8/.24 was working well here. After this change though, steer oscillation is very apparent, maybe worst than before. Dropping this value proportionately by 1/4 seems to effectively remove wobble and drastically improves drive-quality.