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GM: reduce steering message rate (#27201)

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* Lower active rate and raise limits to compensate

* bump panda

* bump panda

* Update ref_commit

* bump panda to master
This commit is contained in:
Shane Smiskol
2023-02-07 23:38:05 -08:00
committed by GitHub
parent 583057aa41
commit 86d86fa9da
3 changed files with 5 additions and 5 deletions
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2
panda

Submodule panda updated: 82151aaffe...7d27eb10fb

6
selfdrive/car/gm/values.py
View File

@@ -11,10 +11,10 @@ Ecu = car.CarParams.Ecu
class CarControllerParams:
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
STEER_STEP = 2 # Active control frames per command (50hz)
STEER_STEP = 3 # Active control frames per command (~33hz)
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 17
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 25
STEER_DRIVER_ALLOWANCE = 50
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
d862b2c7d383d859db30d6c1cc665c29c7a2a9f3
a6b17ab903022b42677abe2968f3c6e50c331980