Toyota TSS2: add longitudinal derivative #1535
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sshane
changed the title
This reverts commit 2332106.
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Split from #1522
This just mainly reduces integral windup during high jerk maneuvers.
You can see the braking overshoot decreases from ~-2.8 m/s^2 to ~-1.7 m/s^2 for a target of -1 m/s^2
(this is with ki=0.25 so that derivative can fully compensate, but ki will be left at 0.5 to start in this PR)
a2bddce0b6747e10/000005be--78a61e8ab6