Tim Wilson

Some information about the fit FF function: Fit from approximately 55 hours of driving data with very good sampling of the lateral acceleration@speed space. Substantial reduction in error vs linear...

I also recorded a route with the stock torque controller with linear FF, having set the Volt's max lateral acceleration value in override.yaml such that the resulting kf would be...

test route: [c11fcb510a549332|2022-08-15--12-18-54](https://cabana.comma.ai/?route=c11fcb510a549332%7C2022-08-15--12-18-54&exp=1692127642&sig=y9OyqK6TNY%2F9CVccSIgDY0E8y%2Bf4r%2BYj5PXKzbJ0MYQ%3D&max=17&url=https%3A%2F%2Fchffrprivate.azureedge.net%2Fchffrprivate3%2Fv2%2Fc11fcb510a549332%2F7f8dbff9f37c147d626083d4725fb753_2022-08-15--12-18-54)

Thanks! This was all possible thanks to @qadmus' initial work on custom FF fits. I expect that the live torque will be able to adjust the kf for custom FF...

Reimplemented following the changes introduced by live torque. @HaraldSchafer After reviewing live-torque, it's conceptually incompatible with this approach, as it's doing an online linear fit.

> See if you can reproduce runaway on master, then try to reproduce here Reproduced it twice on master by pressing and holding the resume button as it transitioned into...

On a similar note, some cars (gm) have different initial vs subsequent minimum engage speeds. The 2017 volt must engage over 18mph the first time but can then engage from...

2017 volt drivers can either set the minimum speed to 0 and ACC will fault if they initially engage too low, or they leave it set at 18mph to avoid...

This is due to [MAX\_GAS](https://github.com/commaai/openpilot/blob/1fa1c44342995d27ed9295429ac4a0506c7569a6/selfdrive/car/gm/values.py#L26) (and it's [corresponding value in panda](https://github.com/commaai/panda/blob/c925407461e46adf3282494af6daa00b2626ebb8/board/safety/safety_gm.h#L18)) in selfdrive/car/gm/values being set too low. The max value for the gm gas command is 4095, which is what...

> Done on Pyto: [ColdGrub1384/Pyto#52](https://github.com/ColdGrub1384/Pyto/issues/52) Holy shit Pyto has scipy, sklearn, and many other major modules not available on Pythonista!