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Reduce Kp/Ki by 30% to eliminate steer oscillation (#1985)

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old-commit-hash: 36391bf12fb88fc15626c9ba3ed5cb3925a39c1b
This commit is contained in:
Ted Slesinski
2020-11-16 18:25:43 -05:00
committed by GitHub
parent ed6093ff58
commit c3a745eb90
1 changed files with 1 additions and 1 deletions
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selfdrive/car/honda/interface.py
+1 -1
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@@ -252,7 +252,7 @@ class CarInterface(CarInterfaceBase):
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]