sync

cereal/car.capnp

@@ -444,6 +444,9 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @4 :Float32;
+    kfV @5 :List(Float32);
+    kfBP @6 :List(Float32);
+
   }
 
   struct LongitudinalPIDTuning {

common/op_params.py

@@ -80,8 +80,8 @@ def __init__(self):
                         'cloak': Param(True, bool, "make comma believe you are on their fork"),
                         #'corolla_tss2_d_tuning': Param(False, bool, 'lateral tuning using PID w/ true derivative'),
                         'default_brake_distance': Param(250.0, VT.number, 'Distance in m to start braking for mapped speeds.'),
-                        'enable_long_derivative': Param(False, bool, 'If you have longitudinal overshooting, enable this! This enables derivative-based\n'
-                                                                     'integral wind-down to help reduce overshooting within the long PID loop'),
+                        #'enable_long_derivative': Param(False, bool, 'If you have longitudinal overshooting, enable this! This enables derivative-based\n'
+                                                                    # 'integral wind-down to help reduce overshooting within the long PID loop'),
                         #'dynamic_follow': Param('normal', str, "Can be: ('close', 'normal', 'far'): Left to right increases in following distance.\n"
                                                                #"All profiles support dynamic follow so you'll get your preferred distance while\n"
                                                                #"retaining the smoothness and safety of dynamic follow!", live=True),