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New mazdas with TI2 support #41
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eFiniLan
reviewed
Feb 24, 2023
| @@ -27,7 +27,7 @@ def __init__(self, CP, CI): | |||
| self.torque_params = CP.lateralTuning.torque | |||
| self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, | |||
| k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) | |||
| self.torque_from_lateral_accel = CI.torque_from_lateral_accel() | |||
| self.torque_from_lateral_accel = CI.torque_from_lateral_accel(self.torque_params.linear) | |||
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@MoreTore wondering if it's possible to use stock controller or create a new one like latcontrol_ti?
comma team still progressively updates it so it may be different in each version, doing so we can:
- not affecting other vehicles
- Consistent experiences for all TI users.
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This would not affect other vehicles. The default is linear. This edit is required to stop jerky steering at low speeds. Comma will probably be changing the controller again next time so it will need to be redone
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New PR #62 |
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