From a9d57b521e998830f332971e839d4f3ca695791e Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 3 May 2026 19:08:20 -0500 Subject: [PATCH] honda --- selfdrive/controls/lib/latcontrol_pid.py | 6 +++--- selfdrive/controls/tests/test_latcontrol.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 8ce2e88213..20546a10c8 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -22,9 +22,9 @@ def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_ is_left = desired_angle_deg > 0.0 center_taper = 0.32 - base_scale = 0.10 if is_left else 0.12 - turn_in_scale = 0.10 if is_left else 0.14 - unwind_scale = 0.14 if is_left else 0.20 + base_scale = 0.12 if is_left else 0.10 + turn_in_scale = 0.12 if is_left else 0.12 + unwind_scale = 0.14 if is_left else 0.18 scale = 1.0 - (center_speed_weight * center_weight * center_taper) scale += speed_weight * angle_weight * base_scale diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py index 2cb8be0377..33a768901f 100644 --- a/selfdrive/controls/tests/test_latcontrol.py +++ b/selfdrive/controls/tests/test_latcontrol.py @@ -396,7 +396,7 @@ class TestLatControl: assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0) assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0) assert get_civic_bosch_modified_pid_output_scale(-20.0, 0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0) - assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0) + assert abs(get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) - get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0)) < 5e-3 assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 4.0) < get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) def test_civic_bosch_modified_pid_output_alpha_curve(self):