From d9c8dfffc652614ed58ee0201e2ceafe6a76edc1 Mon Sep 17 00:00:00 2001 From: Greg Esmond Date: Thu, 8 Nov 2018 18:02:50 -0600 Subject: [PATCH] performance tweaks --- selfdrive/car/honda/interface.py | 2 +- selfdrive/controls/lib/latcontrol.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 79d80e2a6195e6..3019b6b83d6f0c 100755 --- 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 index d383be3995e97c..79cb0a94bede2e 100644 --- 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])