Cherokee KL - PID Lateral Tested, Reduced MinSteer Tested

[ngk0]

Miles544 on Comma Discord

Description: Added PID-based lateral tuning for Cherokee KL Port Fork. PID Parameters match other Chrysler / Jeeps for now. Kf slightly modified. Disabled Chrysler "High Min Steer Speed" flag, not a focus of testing.

Tested: 2019 Cherokee KL w/ Prem. Tech Pkg. (ACC, LKAS, Park Assist)

Routes:

1. 39180e809b48857f/2024-04-02--07-31-25/13
2. 39180e809b48857f/2024-04-01--19-54-28/5

Notes:

1. PID Lateral works well, keeps center of lane.
2. No faults of any kind.

Priorities:

1. Port accepted by upstream (OP Main)
2. Explore steering torque limit
3. White Panda Mod testing <39mph

[github-actions[bot]]

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[ngk0]

@jyoung8607 I don't know how to use the PR template or even if it applies for what we're doing. Please let me know. Miles544 on Discord.

[jyoung8607]

Thank you for testing this! Bringing the Chrysler port current with upstream master involved refactoring the way a lot of parameters are set, so while I'm adopting the suggested PIF tune, I've done so manually instead of merging this PR.