mawei/onepilot
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

missed one update in latcontrol

Browse Source 
old-commit-hash: 6e824a2c22e4c6073bec60b764bbef219a1c01a2
This commit is contained in:
John Jones
2017-06-11 21:33:44 -04:00
parent e2b3b65db5
commit bc793ab843
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/controls/lib/latcontrol.py
View File

@@ -31,7 +31,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
steer_override, sat_count, enabled, Kp, Ki, rate):
sat_count_rate = 1./rate
sat_count_limit = 0.8 # after 0.8s of continuous saturation, an alert will be sent
sat_count_limit = 1.2 # after 0.8s of continuous saturation, an alert will be sent
error_steer = y_des - y_actual
Ui_unwind_speed = 0.3/rate #.3 per second