Helpful Commits

Adjustable Following Distance

Here is how you can add adjustable TR support to your fork: https://github.com/ShaneSmiskol/openpilot/commit/d01208e1aa9acee597e3b5453f6fdc08edebc2da

Just git cherry-pick it! Of course you need to modify the line in long_mpc.py to include a TR and optionally (but recommended) adjust the distance cost.

The line to adjust, simply add a float following distance as an extra argument