Update Highlander Tuning

[zeeexsixare]

Experimentally derived by P Lee (zeeexsixare)

[rbiasini]

Do you have some trace (e.g. cabana plots) to show the behavior before VS after the tuning?

[zeeexsixare]

Do you have some trace (e.g. cabana plots) to show the behavior before VS after the tuning?

Sure, will acquire some over the next few days.

[zeeexsixare]

Note to myself: Jan 7 2019 mid-day drives

[zeeexsixare]

@rbiasini I whipped up a presentation of results. Let me know what you think:

Highlander Tuning PR #464.pdf

Link to Cabana with Stock Values (slow speed, then high speed, then medium speed curve):
https://community.comma.ai/cabana/?route=aa659debdd1a7b54%7C2019-01-07--11-58-03&max=11&url=https%3A%2F%2Fchffrprivate.blob.core.windows.net%2Fchffrprivate3%2Fv2%2Faa659debdd1a7b54%2F73643eabc5970c8ae3e993f8b931dd1e_2019-01-07--11-58-03

Link to Cabana with P Lee Values (slow speed, then high speed, then medium speed curve):
https://community.comma.ai/cabana/?route=aa659debdd1a7b54%7C2019-01-07--11-46-20&max=8&url=https%3A%2F%2Fchffrprivate.blob.core.windows.net%2Fchffrprivate3%2Fv2%2Faa659debdd1a7b54%2Fea8599649c60fd7303bdb77e8c11c88e_2019-01-07--11-46-20

[rbiasini]

@zeeexsixare , awesome documentation. I would be fine with the Kp and Ki change. What I'm very unsure about is the change to kf. 0.0003 means full steer torque command at 4 deg steering angle and 65 mph (0.00033030*4 ~= 1).
what if you go with 0.00015?

Next week we can test this setting on our cars.

[zeeexsixare]

I was unsure of the change I made to kf, too regarding safety. Let me test your proposed lower value and report back.

[zeeexsixare]

kf = 0.00015 continues to work very well. Do you need a re-test of the test scenario in my presentation with this new kf? Or will you guys test it out and push if acceptable?

[rbiasini]

Thanks, It's acceptable without redoing the ppt. Other users tested it too?

…

On Sun, Jan 27, 2019, 12:30 PM P Lee ***@***.*** wrote: kf = 0.00015 continues to work very well. Do you need a re-test of the test scenario in my presentation with this new kf? Or will you guys test it out and push if acceptable? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#464 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AQ4FkrYpRxW7w78cqsKG7KWCUDoK5EwAks5vHgx4gaJpZM4ZQorV> .

[zeeexsixare]

I haven't had others try it out, good idea. I'll forward on to other Highlander users on Discord and report back once we have consensus.

[zeeexsixare]

Riccardo, I've confirmed through a month of varied driving that we are good to push the latest parameters with the lower Kf at 0.00015. (my commit comment is missing a 0). The lower value fixed some hugging issues. Others agree and are ready to push!

[rbiasini]

Fixed in Highlander Tuning #690