From 9beac98b98f541e04a7539bf79fa8566f12a1927 Mon Sep 17 00:00:00 2001
From: Irene <12470297+cydia2020@users.noreply.github.com>
Date: Sun, 23 Jun 2024 10:42:52 +1000
Subject: [PATCH] revert rate

---
 selfdrive/controls/lib/longcontrol.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index b5d8152acf6288..7f75706a5b2f8c 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -47,7 +47,7 @@ def __init__(self, CP):
     self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                             k_f=CP.longitudinalTuning.kf, rate=(1/3)/DT_CTRL)
+                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
 
   def reset(self):