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Fixes wobble on new CRV #269

Merged
merged 1 commit into from
Jun 21, 2018
Merged

Fixes wobble on new CRV #269

merged 1 commit into from
Jun 21, 2018

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energee
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@energee energee commented Jun 21, 2018 •
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Prior to actuator delay update, I felt like .8/.24 was working well here. After this change though, steer oscillation is very apparent, maybe worst than before. Dropping this value proportionately by 1/4 seems to effectively remove wobble and drastically improves drive-quality.

@energee
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energee commented Jun 21, 2018 •
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@pd0wm I don't think this is specific to high speed, seems to oscillate at any speed, if so, is this an appropriate fix?

Current PI Values: .8 / .24
screen shot 2018-06-21 at 1 16 28 pm

New PI Values: .6 / .18
screen shot 2018-06-21 at 1 17 46 pm

@pd0wm pd0wm merged commit 58744df into commaai:devel Jun 21, 2018
@mtourangeau
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How did you take does graph? I wanted to fix the oscillation for the Prius Prime so I lower the same value and it seems to work well. It's not perfect but it's much better. By the way, I think the ret.steerKpV is to center the car in line. From experience, when you lower the value, the car stay in lane but more to le left.

@mtourangeau mtourangeau mentioned this pull request Jul 17, 2018
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@jeankalud
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Those graphs are made in cabana -> cabana.comma.ai

@energee energee deleted the bosch branch September 25, 2018 22:00
pd0wm pushed a commit that referenced this pull request Jun 2, 2020
Squashed 'opendbc/' changes from e92e743..daf3bc9
a01935b 
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: daf3bc9
pd0wm pushed a commit that referenced this pull request Jun 2, 2020
Squashed 'opendbc/' changes from e92e743..daf3bc9
3aca275 
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: daf3bc9
pd0wm pushed a commit that referenced this pull request Jun 3, 2020
Squashed 'opendbc/' changes from e92e743..b875f97
a958b36 
b875f97 Stricter pylint
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: b875f97
pd0wm pushed a commit that referenced this pull request Jun 3, 2020
Squashed 'opendbc/' changes from e92e743..b875f97
478305b 
b875f97 Stricter pylint
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: b875f97
pd0wm pushed a commit that referenced this pull request Jun 4, 2020
Squashed 'opendbc/' changes from e92e743..b875f97
98ababe 
b875f97 Stricter pylint
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: b875f97
pd0wm pushed a commit that referenced this pull request Jun 5, 2020
Squashed 'opendbc/' changes from e92e743..b875f97
a18bd33 
b875f97 Stricter pylint
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: b875f97
pd0wm pushed a commit that referenced this pull request Jun 6, 2020
Squashed 'opendbc/' changes from e92e743..b875f97
fc957d2 
b875f97 Stricter pylint
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: b875f97
pd0wm pushed a commit that referenced this pull request Jun 6, 2020
Squashed 'opendbc/' changes from e92e743..b875f97
2469d4e 
b875f97 Stricter pylint
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: b875f97
pd0wm pushed a commit that referenced this pull request Jun 7, 2020
Squashed 'opendbc/' changes from e92e743..b875f97
0119dcc 
b875f97 Stricter pylint
daf3bc9 HRV correct GAS_PEDAL (#266)
c25b757 Update X-trail HUD message name, added SPEED_MPH signal (#269)
1f1ff22 enable almost all flake8 checks
4c59163 two spaces before inline comment

git-subtree-dir: opendbc
git-subtree-split: b875f97
nworb-cire pushed a commit to opgm/openpilot that referenced this pull request Aug 2, 2024
@sunnyhaibin
Subaru: Fix brake light signal rename (commaai#269)
e8a6afa
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4 participants
@energee @mtourangeau @jeankalud @pd0wm