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fix kF value for thermal PI controller (#23871)

pull/23517/merge
Robbe Derks 2022-02-27 19:51:59 +01:00 committed by GitHub
parent a1875ac6f0
commit f539d9c0bc
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1 changed files with 1 additions and 1 deletions
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selfdrive/thermald/thermald.py
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@ -240,7 +240,7 @@ def thermald_thread(end_event, hw_queue):
thermal_config = HARDWARE.get_thermal_config()
# TODO: use PI controller for UNO
controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
while not end_event.is_set():
sm.update(PANDA_STATES_TIMEOUT)