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updated readme and enable alerts

This commit is contained in:
alan-polk 2024-09-13 16:03:53 -05:00
parent 2877141d94
commit 4379e01231
2 changed files with 5 additions and 6 deletions
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8
README.md
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@ -82,12 +82,12 @@ Requires further assistance with software installation? Join the [sunnypilot Dis
---
In addition to all sunnypilot features, bluepilot incorporates the following Ford specific enhacements.
- [**Improved Ford Longitudinal controls**] - logic to adjust stock OpenPilot single acceleration signal into seperate gas and brake signals for much smoother long control on ford vehicles.
- [**Improved Ford Longitudinal controls**] - Logic to adjust stock OpenPilot single acceleration signal into seperate gas and brake signals for much smoother long control on ford vehicles.
- [**Anti-Windup in Turns**] - Logic to reset the EPAS back to zero when a human turn is detected. This prevents the EPAS from winding up and fighting to keep turning after the car has straightened up. Makes experimental mode and MADS safer to use.
- [**Anti Ping Pong Logic**] - Tunable amounts of predicted curvature (https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457707) for straight aways and curves. This greatly reduce steering wheel wiggle and ping pong.
- [**Less Aggressive Lane Changes**] - utilizes a blend of desired curvature and predicted curvature to achieve smoother, less aggressive lane changes.
- [**Tunable Curve Cutting**] - adjust the amount of curvature applied in curves to eliminate cutting corners
- [**Less Aggressive Lane Changes**] - Utilizes a blend of desired curvature and predicted curvature to achieve smoother, less aggressive lane changes.
- [**Tunable Curve Cutting**] - Adjust the amount of curvature applied in curves to eliminate cutting corners
- [**Updated Steering Limited Exceeded Calculation**] - Updated logic to determine when steering limited has actually been exceeded. Reduces nuiscance alerts.
</details>

3
selfdrive/car/ford/carcontroller.py
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@ -275,8 +275,7 @@ class CarController(CarControllerBase):
requested_curvature = requested_curvature * self.high_curvature_factor
# apply ford cuvature safety limits
apply_curvature = requested_curvature
# apply_curvature = apply_ford_curvature_limits(requested_curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
apply_curvature = apply_ford_curvature_limits(requested_curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
# detect if steering was limited
if (requested_curvature != apply_curvature) and (not steeringPressed):