Ford: tuning (reduce steerActuatorDelay)

commaai · Jan 15, 2022 · f4fd9de · f4fd9de
1 parent af009d9
commit f4fd9de
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
@@ -20,8 +20,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     # Angle-based steering
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    ret.steerActuatorDelay = 0.8
-    ret.steerRateCost = 1.0
+    ret.steerActuatorDelay = 0.5
+    ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.8
     ret.steerRatio = 14.3