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Published 20 hours ago • verified publisher icon commaai

[torqued] Fix high speed oscillations

Open nuwandavek opened this issue 3 years ago • 1 comments

Changes

  • Reduce low speed factor during high speeds (scales down the error) image

  • Friction: Currently full friction is applied at 0.2 error (~4% of instances). Increase to 0.3 (~2% of cases) to reduce oscillations at higher errors.

nuwandavek avatar Nov 03 '22 04:11 nuwandavek

FWIW, this change significantly improves torque control performance for my Honda Passport. Significantly less oscillation.

Looking forward to seeing torqued rolled out to more brands!

rjsmith1999 avatar Nov 03 '22 22:11 rjsmith1999