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LateralParams

This commit is contained in:
Greg Hogan 2020-01-18 15:51:34 -08:00
parent 0c45f20d48
commit c38fb57283
1 changed files with 6 additions and 0 deletions
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6
car.capnp
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@ -346,6 +346,7 @@ struct CarParams {
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indi @27 :LateralINDITuning;
@ -373,6 +374,11 @@ struct CarParams {
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
communityFeature @46: Bool; # true if a community maintained feature is detected
struct LateralParams {
torqueBP @0 :List(Int32);
torqueV @1 :List(Int32);
}
struct LateralPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);