mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-23 18:23:53 +08:00
34 lines
1.1 KiB
Markdown
34 lines
1.1 KiB
Markdown
---
|
|
name: Tuning
|
|
about: For openpilot tuning changes
|
|
title: ''
|
|
labels: 'tuning'
|
|
assignees: ''
|
|
---
|
|
|
|
**Description**
|
|
|
|
<!-- A description of what is wrong with the current tuning and how the PR adresses this. -->
|
|
|
|
**Verification**
|
|
|
|
<!-- To verify a longitudinal tuning PRs we need the plotjuggler plots of several scenarios of the desired speed/accel (first value from longitudinalPlan message)
|
|
vs measured speed/accel (from carState message), we need these plots for before and after the changes in the PR. For lateral tuning PRs we need plots of the
|
|
desired steeringAngle vs actual steeringAngle. These scenarios don't need to be exactly followed, but do need to be broadly captured.
|
|
|
|
For longitudinal we need plots of before and after for all of the following scenarios:
|
|
* Maintaining speed at 25, 40, 65mph
|
|
* Driving up and down hills
|
|
* Accelerating from a stop
|
|
* Decelerating to a stop
|
|
* Following large changes in set speed
|
|
* Coming to a stop behind a lead car
|
|
|
|
For lateral we need plots of before and after for all of the following scenarios:
|
|
* Straight driving at ~25, ~45 and ~65mph
|
|
* Turns driving at ~25, ~45 and ~65mph
|
|
|
|
|
|
|
|
-->
|