Ford: higher curvature rate limits at low speed #33846
Merged
+3
−3
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panda: commaai/panda#2065
opendbc: commaai/opendbc#1394
The low speed curvature rate limits from the EPS cause the jerk to fall below 0.5 m/s^3 in many cases, however our openpilot limits were extremely aggressive, so we weren't even utilizing that. Wind down after turns is also significantly improved.
We originally wanted to take the max of the limits and apply them to the max speed to determine the worst case if the speed estimate is wrong.
Now we have panda mutation testing, full coverage, and check two speed signals. @adeebshihadeh is there anything else we need to merge?