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Controls - Lateral Tuning - Steer Ratio

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Use a custom steer ratio as opposed to comma's auto tune value.
This commit is contained in:
FrogAi 2024-05-11 22:12:19 -07:00
parent e9bafa6ea3
commit b2e290e186
2 changed files with 6 additions and 1 deletions
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2
selfdrive/controls/controlsd.py
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@ -568,7 +568,7 @@ class Controls:
# Update VehicleModel
lp = self.sm['liveParameters']
x = max(lp.stiffnessFactor, 0.1)
sr = max(lp.steerRatio, 0.1)
sr = max(self.frogpilot_toggles.steer_ratio, 0.1) if self.frogpilot_toggles.use_custom_steer_ratio else max(lp.steerRatio, 0.1)
self.VM.update_params(x, sr)
# Update Torque Params

5
selfdrive/locationd/paramsd.py
View File

@ -133,6 +133,11 @@ def main():
CP = msg
cloudlog.info("paramsd got CarParams")
steer_ratio_stock = params_reader.get_float("SteerRatioStock")
if steer_ratio_stock != CP.steerRatio:
params_reader.put_float_nonblocking("SteerRatio", CP.steerRatio)
params_reader.put_float_nonblocking("SteerRatioStock", CP.steerRatio)
min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
params = params_reader.get("LiveParameters")