Ford: steering oscillation

[incognitojam]

Ford Focus Steering oscillations while driving straight on the highway:

• e886087f430e7fe7|2023-07-16--21-08-19--11
• e886087f430e7fe7|2023-07-17--01-00-16--{22,23}

Ford Escape Oscillations during some turns:

• 2631ea836ece842e|2023-07-11--16-39-52--16 (and at other parts of this route)
• 2631ea836ece842e|2023-07-17--16-17-15--{11,12,13}
• 2631ea836ece842e|2023-07-17--16-17-15--{18,19}

[sshane]

Does slow ramp type help? I didn't see any difference in my injection tests

[incognitojam]

I'll try it out next time I go on the highway. Did you try changing precise/comfortable?

[blue-genie]

I'm hitting the same issue in my F-150, I know it's not formally supported, but trying to help to make ti better and be supported.

The current setting for LatCtlRampType_D_Rq for all Fords is set to 0, Slow Ramp speed

Ford LatCtlCurv_No_Actl signal:

OP LatCtlCurv_No_Actl signal:

note that ford sends commands between 0.00006 and -0.00004, step size is 0.00002, over 40 seconds while OP adjust the signal between 0.0003 and -0.0003

I played with steerActuatorDelay starting form 0.0 to 0.2(default value) on 0.05 increments, it had some improvement, but not to significant.

I'm more than happy to do the legwork, but maybe some pointers would be useful

[adamgranted]

Same issue in my 2021 Explorer ST. Getting oscillations in both modes but experimental seems to be worse? Could be placebo. Let me know what I can do to help.