small angle tuning

Author: incognitojam

selfdrive/car/ford/carcontroller.py

@@ -19,9 +19,9 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo, VM):
   apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff))
 
   # absolute limit (0.5 rad after steer ratio)
-  apply_angle = math.radians(apply_angle) * 4.
+  apply_angle = math.radians(apply_angle) * 4.15
   apply_angle = clip(apply_angle, -0.5, 0.5235)
-  apply_angle = math.degrees(apply_angle) / 4.
+  apply_angle = math.degrees(apply_angle) / 4.15
 
   return apply_angle * VM.sR
 
@@ -62,7 +62,7 @@ def update(self, CC, CS):
 
       # use LatCtlPath_An_Actl to actuate steering
       # path angle is the car wheel angle, not the steering wheel angle
-      path_angle = math.radians(apply_steer) * 4. / self.VM.sR
+      path_angle = math.radians(apply_steer) * 4.15 / self.VM.sR
 
       # ramp rate: 0=Slow, 1=Medium, 2=Fast, 3=Immediately
       # TODO: slower ramp speed when driver torque detected

selfdrive/car/ford/interface.py

@@ -18,7 +18,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
 
     # Angle-based steering
     ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.steerActuatorDelay = 0.15
+    ret.steerActuatorDelay = 0.14
     ret.steerLimitTimer = 1.0
     tire_stiffness_factor = 1.0  # Let the params learner figure this out