try raising actuator delay to dampen oscillations

jyoung8607 · Dec 11, 2023 · 9978dff · 9978dff
1 parent 71474ca
commit 9978dff
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
@@ -54,6 +54,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.wheelbase = 2.70
       ret.steerRatio = 17  # TODO: verify against params learner
       ret.minSteerSpeed = 18.0  # TODO: conservative, need to test
+      ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
     elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):