Shane Smiskol

Stock route with lane changes, LKAS and LFA: https://connect.comma.ai/8279cfddf735a11e/00000010--a643312798

Max torque by the stock system is 250:  

LKAS (still angle) uses max 175: 

The MDPS angle looks closer to the request, we might want to switch to that eventually: 

250 could reach -3.9 m/s^2 on a curve (stock system!): 

Stock torque signal ramps up on engage: 

EV9 injection test route: `8279cfddf735a11e/0000001e--14bd4e33be` 70-80 mph: left: -2.4, -1.87, -2.48, -2.6, -2.5, -2.5, -2.5, -2.5, -2.3, -2.1 m/s^2 right: 2.23, 2.22, 2.22, 2.4, 2.2, 2.4 m/s^2   30-40...

The max torque/lateral accel is not the same across different models. @sunnyhaibin's GV80 also with LFA and angle steering achieves Honda levels of torque (0.5 m/s^2) with the EV9's values,...

Is anyone working on the port for these vehicles? Are there any routes with rlogs I can take a look at?

See discussion about the port here: https://github.com/commaai/openpilot/discussions/29825