2021-09-09 15:13:32 -06:00
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---
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name: Tuning
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about: For openpilot tuning changes
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title: ''
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labels: 'tuning'
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assignees: ''
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---
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**Description**
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2021-11-14 00:16:42 -07:00
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<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
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2021-09-09 15:13:32 -06:00
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**Verification**
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2021-11-14 00:16:42 -07:00
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<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
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Use the PlotJuggler tuning layout to compare planned versus actual behavior.
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2021-09-09 15:13:32 -06:00
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2021-11-14 00:16:42 -07:00
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Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
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Longitudinal:
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2021-09-09 15:13:32 -06:00
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* Maintaining speed at 25, 40, 65mph
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* Driving up and down hills
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* Accelerating from a stop
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* Decelerating to a stop
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* Following large changes in set speed
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* Coming to a stop behind a lead car
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2021-11-14 00:16:42 -07:00
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Lateral:
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2021-09-09 15:13:32 -06:00
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* Straight driving at ~25, ~45 and ~65mph
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* Turns driving at ~25, ~45 and ~65mph
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-->
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