mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-01 19:42:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix steering oscillations in 2019 RDX (#22677)

Browse Source 
Steering wheel would oscillate quickly when going straight, oscillation
is gone after this modification.
old-commit-hash: 1ca5e1c82bd98a488dbffba32c653327a3d00b51
This commit is contained in:
Anthony Foerster
2022-01-04 01:07:49 -06:00
committed by GitHub
parent f6a9445de8
commit 8d2f0de871
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/honda/interface.py
+1 -1
View File
@@ -227,7 +227,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
tire_stiffness_factor = 0.677
elif candidate == CAR.ODYSSEY: