Skip to content

Fixes wobble on new CRV#269

Merged
pd0wm merged 1 commit intocommaai:develfrom
energee:bosch
Jun 21, 2018
Merged

Fixes wobble on new CRV#269
pd0wm merged 1 commit intocommaai:develfrom
energee:bosch

Conversation

@energee
Copy link
Copy Markdown
Contributor

@energee energee commented Jun 21, 2018 •
edited
Loading

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
Copy link
Copy Markdown
Contributor Author

energee commented Jun 21, 2018 •
edited
Loading

@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
Copy link
Copy Markdown

mtourangeau commented Jul 17, 2018

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
Closed
@jeankalud
Copy link
Copy Markdown

jeankalud commented Jul 17, 2018

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
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

4 participants

@energee @mtourangeau @jeankalud @pd0wm