Torque control: higher low speed gains and better steering angle deadzone logic (commaai#24980)

* Try no friction and no deadzone

* Learn fromd ata

* update refs

Author: haraschax

selfdrive/controls/lib/latcontrol_torque.py

@@ -56,15 +56,15 @@ def update(self, active, CS, VM, params, last_actuators, desired_curvature, desi
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
 
-      low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
+      low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200])
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
-      error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)
+      error = setpoint - measurement
       pid_log.error = error
 
       ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
       # convert friction into lateral accel units for feedforward
-      friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
+      friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf
       freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(error,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-41161c8d151b0c2017214cad0aad3156533ab868
+a16ca1082cd493f6cea5252eaaba9f8c6574334a