this seems to about what my car converges to (commaai#23836)

Author: robbederks

selfdrive/car/tesla/interface.py

@@ -41,14 +41,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
 
     ret.steerLimitTimer = 1.0
-    ret.steerActuatorDelay = 0.1
+    ret.steerActuatorDelay = 0.25
     ret.steerRateCost = 0.5
 
     if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
       ret.mass = 2100. + STD_CARGO_KG
       ret.wheelbase = 2.959
       ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 13.5
+      ret.steerRatio = 15.0
     else:
       raise ValueError(f"Unsupported car: {candidate}")