Volt: Perfect lateral and 98% perfect longitudinal#64
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…ntroller, and new volt PID tune no live PID tuning for custom feedforward cars (volt)
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Replaces stock feedforward with qadmus' sigmoidal feedforward function (fit from log data) commaai@2e0bc9d, and puts D back in the PID controller, with very, very good Volt lateral and longitudinal tunes.
Martin.R is running this with kegman-ultimate on his very old setup and confirms it's essentially perfect.
The Volt tunes are speed-dependent, something assumed to not be the case by the kegman.conf stuff, so I disabled live PID tuning for Volt (and any car with custom feedforward; only Volt).
Otherwise, I updated kegman.conf to include kd in a way that doesn't break existing kegman.conf files.
I expect other cars can benefit greatly from including kd in their lateral tunes to decrease oscillations and enable a significantly higher value of ki to better center the car against persistent lateral forces like road roll or crosswinds, and a somewhat higher value of kp to more assertively change lanes against any potential lateral forces, and better enter/exit curves.