COROLLA: investigating steering wobble

[ntegan1]

9b84658caefee71a/00000157--80aed67dfb

This route has code to enable SDSU OP long on TSSP corolla but same lateral parameters as upstream OP for corolla.

I've been messing with lateral tuning to allow for driving 70-80mph without death wobble.
There is also some notable steering wobble at lower speeds as I will show below.

I've noticed that maybe this isn't as important as the steeringActuatorDelay/steeringDeadzone.

I've been happiest with scaled torque controller params kp = 1.0 * 0.4, kf = 1.0 * 1.2, and ki = 0.1 * 0.7 when driving at highway speeds but think all that might be necessary is steeringActuatorDelay/steeringDeadzone similar to PRIUS (with bad steering angle sensor?).

9b84658caefee71a/00000156--a5f4c4aa3c

is a route with steerActuatorDelay increased from 0.12 to 0.18 and steeringAngleDeadzoneDeg of 0.2 (with stock torque tuning PIDF params).

I'll be gathering data from master (no OP long for COROLLA) showing the difference between stock lateral params and the effects of 0.2 degrees deadzone as well as maybe ActuatorDelay.

[ntegan1]

9b84658caefee71a/00000159--56883668d9

stock OP lat for steering wobble demonstration

gif of 1415 seconds to 1430 seconds, matching pj image

lots of graphs

9b84658caefee71a/0000015a--aaa90a0b38 & 9b84658caefee71a/0000015b--40eb864a01

with 0.2 steeringAngleDeadzoneDeg

lots of graphs

lots of graphs

9b84658caefee71a/0000015c--6dba3ba229

data for 0.25 steerActuatorDelay in combination with 0.2 steeringAngleDeadzoneDeg
doesn't seem to have helped, back to the drawing board

lots of graphs