jrmbadger
Well-Known Member
- Thread starter
- #1
All,
While we wait patiently for Lukas' new harness that unlocks angle-based steering, I've been trying out Uncle Tony's sunny pilot fork with the experimental bypass of the LKAS 90 degree steering limit with my R1S over the past several weeks and am pleased to report that it appears to be working! Comma has completed several turns that require greater than 90 degrees of steering wheel turn.
Since my truck seems to have decent lateral control (no disengagements on highways) - I tested this out in the experimental city mode by making several left and right hand turns.
Couple of Thoughts:
1.) To try this, MADS mode is your best bet. In order to pull this off you have to have the "use lane turn desires" enabled - which means that if you are going less than a configurable value (default is 20 mph) and put on your signal, comma interprets that as an intent to turn rather than change lanes. Getting this to happen using longitudinal would be pretty hit or miss - you'd have to be going less than 20mph based upon traffic. Stoplights might work, but see my next point.
2.) The models themselves are still rudimentary for city-based turns. Even using WMIv16, the latest/greatest model comma seems to get "lost" on the turn unless you have a lead car turning OR unless you keep moving - e.g., if you stop, then try and turn, it doesn't seem to track the turn, but if you are moving as you initiate the turn and stay moving throughout the turn, it seems to work better (e.g., you have a green light). In addition, it will often navigate into the farthest lane, rather than the closest lane if you are turning onto a four lane road.
3.) If you are like me and delete the calibration data when you change models (the usefulness of which is questionable as I understand it), you need to give it some time to learn your steering. It seems to learn that you can take sharper corners over time.
4.) The models like to over turn - e.g., it turns too sharp many times - so be prepared to correct it.
To install, use "AdventurePilotDev/ap-staging" when installing the sunnypilot software.
While we wait patiently for Lukas' new harness that unlocks angle-based steering, I've been trying out Uncle Tony's sunny pilot fork with the experimental bypass of the LKAS 90 degree steering limit with my R1S over the past several weeks and am pleased to report that it appears to be working! Comma has completed several turns that require greater than 90 degrees of steering wheel turn.
Since my truck seems to have decent lateral control (no disengagements on highways) - I tested this out in the experimental city mode by making several left and right hand turns.
Couple of Thoughts:
1.) To try this, MADS mode is your best bet. In order to pull this off you have to have the "use lane turn desires" enabled - which means that if you are going less than a configurable value (default is 20 mph) and put on your signal, comma interprets that as an intent to turn rather than change lanes. Getting this to happen using longitudinal would be pretty hit or miss - you'd have to be going less than 20mph based upon traffic. Stoplights might work, but see my next point.
2.) The models themselves are still rudimentary for city-based turns. Even using WMIv16, the latest/greatest model comma seems to get "lost" on the turn unless you have a lead car turning OR unless you keep moving - e.g., if you stop, then try and turn, it doesn't seem to track the turn, but if you are moving as you initiate the turn and stay moving throughout the turn, it seems to work better (e.g., you have a green light). In addition, it will often navigate into the farthest lane, rather than the closest lane if you are turning onto a four lane road.
3.) If you are like me and delete the calibration data when you change models (the usefulness of which is questionable as I understand it), you need to give it some time to learn your steering. It seems to learn that you can take sharper corners over time.
4.) The models like to over turn - e.g., it turns too sharp many times - so be prepared to correct it.
To install, use "AdventurePilotDev/ap-staging" when installing the sunnypilot software.
Sponsored
