Ben Scholer

EDIT: I screwed something up originally, and the lane ejections and oscillations do not seem to be repeatable. See [this comment](https://github.com/sunnyhaibin/sunnypilot/pull/66#issuecomment-1170656038). ~~After running this tune for a bit, I'm confident...

Interesting--I'm in a 22 Corolla Hatch XSE. Oscillations occur at all speeds, but it gets worse as I increase the speed. I didn't go above `60 mph` with it, but...

> steerActuatorDelay 0.41 is very important as everything is tuned around. Birdman actually uses valor around 0.42 [sshane/openpilot@117c075](https://github.com/sshane/openpilot/commit/117c07573f76203cb834b03f70c0b84d63d899d0) That's interesting--sunny and shane both have `0.22` after the math in the...

@AtLmd I have no idea what I screwed up when I tested this first, but I gave it another go, and it's _great_. I owe you an apology, I didn't...

> Would you mind trying OP 0813 **lanefull** on your C3 to test it? I believe it will fix the behaviours you experienced. Getting stock OP working w/ a manual...

Never got around to trying 0.8.12, but using .33 seems to work really well! Tested it for ~300 miles on lots of different roads.

Is this going to get merged? @AskAlice

Gotcha, do you know what needs tweaked? I'll see what I can do this week.

Hi, has there been any headway on this issue?

not really sure why `selfdirve / unit tests` fails, I didn't make any changes to the file it's complaining about.