Tim Wilson

~~converting to draft until new profile derived from better test data~~

Updated with new test data. ~~TODO: these results are from the earlier implementation using a similar, but not the same gas/brake threshold profile. Need to record new test route.~~ ~~TODO:...

Route: c11fcb510a549332|2022-08-19--09-03-54--0 # Verification Here we compare master (no pitch) with present and future pitch compensation on a couple steep steps of a hill, going up and down the steps....

Very cool! I notice one big difference in the form of the feedforward is yours is directly proportional to lat acceleration and speed, where this FF is directly proportional to...

@Swish865 on Discord is testing Palisade and reporting some major concerns. There were some other learning pains in the fit process due to differences in torque units between GM and...

Yeah, this is just what shows in the data, consisting of such filtered points. Seems to have a huge speed dependence, with 3-4X the feedforward at very slow speeds, that...

That's fine. Note however that low-speed factor only affects the error term in the torque controller, so I don't see how it could possibly have a comparable effect to a...

Here are some plots showing the behavior:  Zoomed segment A:  Here's a zoomed shot...

Plots are, from the top down: 1) overlaid set speed (vCruise and CAN dash set speed), 2) ACC button presses (2 = res/accel, 3 = set/decel), `VAL_TABLE_ ACCButtons 6 "Cancel"...

@Verylukyguy informs me he's had this runaway speed behavior occur too. So it's at least Volt + Acadia