Longitudinal: add Kf to carParams (#23752)

* sane_kf

* long_kf + cereal

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>

selfdrive/car/interfaces.py

@@ -92,6 +92,7 @@ class CarInterfaceBase(ABC):
     ret.stoppingControl = True
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]
+    ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [1.]
     ret.longitudinalTuning.kiBP = [0.]

selfdrive/controls/lib/longcontrol.py

@@ -44,7 +44,7 @@ class LongControl():
     self.long_control_state = LongCtrlState.off  # initialized to off
     self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                            rate=1 / DT_CTRL)
+                            k_f = CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
     self.v_pid = 0.0
     self.last_output_accel = 0.0
 

selfdrive/controls/lib/pid.py

@@ -13,7 +13,7 @@ def apply_deadzone(error, deadzone):
   return error
 
 class PIController():
-  def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100):
+  def __init__(self, k_p, k_i, k_f=0., pos_limit=None, neg_limit=None, rate=100):
     self._k_p = k_p  # proportional gain
     self._k_i = k_i  # integral gain
     self.k_f = k_f   # feedforward gain

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-0c4da879ace9c1517c2324b35da7ff05a4744dd9
+7077009f076000a475ec6b56e2f711e78daa876e