Ford: higher curvature rate limits at low speed #33846
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Haven’t tried it much with truly low speed curves yet, but the small bump to the limits in the 40-60mph range definitely seems to align better with my old Santa Fe’s limits. So personally I’m quite excited for this 🎉 |
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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?