Update steerActuatorDelay to tested value

martinl / openpilot

Open source driving agent - Subaru fork

https://github.com/martinl/openpilot/wiki/

MIT License

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Update steerActuatorDelay to tested value #54

Closed ClockeNessMnstr closed 3 years ago

ClockeNessMnstr commented 3 years ago

Going to add the plot juggler graph in a moment

ClockeNessMnstr commented 3 years ago

PXL_20210617_160322405 MP

ClockeNessMnstr commented 3 years ago

PJ graph is LKAS output shifted by .35 seconds corresponding to .15 in interface.py. Derivative of the steering angle is shown in blue.

martinl commented 3 years ago

afaik the steer actuator delay is calculated as an average over multiple drives. You will also need a few users with before and after cabana routes to confirm that the tuning change is an improvement or fixes some issue that was present before and does not cause any new issues.