performance tweaks

Gernby · Nov 9, 2018 · d9c8dff · d9c8dff
1 parent 8f0effd
commit d9c8dff
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -358,7 +358,7 @@ def get_params(candidate, fingerprint):
     ret.steerLimitAlert = True
     ret.startAccel = 0.5
 
-    ret.steerActuatorDelay = 0.01
+    ret.steerActuatorDelay = 0.05
     ret.steerRateCost = 0.5
 
     return ret

diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
@@ -147,12 +147,12 @@ def update(self, active, v_ego, angle_steers, steer_override, d_poly, angle_offs
     elif (int(cur_time * 100) % 200) == 100:  
       for i in range(21):
         if self.tiny_torque_count[i] > 0:
-          self.steerdata2 += 'steerTune,type=%s,angleTag=%d angle=%d,value=%f,count=%d\n' % ('tiny', self.tiny_angle_array[i], self.tiny_angle_array[i], self.tiny_torque_array[i], self.tiny_torque_count[i])
+          self.steerdata2 += 'steerTune,type=%s,angleTag=%f angle=%f,value=%f,count=%d\n' % ('tiny', self.tiny_angle_array[i] / 5, self.tiny_angle_array[i] / 5, self.tiny_torque_array[i], self.tiny_torque_count[i])
       if len(self.steerdata2) > 0:
         self.steerpub2.send(self.steerdata2)
         self.steerdata2 = ""
     elif False == True:
-      elif (int(cur_time * 100) % 700) == 300:  
+      if (int(cur_time * 100) % 700) == 300:  
         for i in range(21):
           if self.accel_positive_count[i] > 0:
             self.steerdata2 += 'steerTune,type=%s,angleTag=%d angle=%d,value=%f,count=%d\n' % ('rough_positive', self.rough_angle_array[i], self.rough_angle_array[i], self.rough_accel_positive_array[i], self.rough_accel_positive_array[i])