From f4fd9de024e045d9c78862670055a82361c70249 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 15 Jan 2022 17:00:20 +0000 Subject: [PATCH] Ford: tuning (reduce steerActuatorDelay) --- selfdrive/car/ford/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7589a2f9eed2066..9e08e8109437419 100755 --- 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