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Fix steering oscillations in 2019 RDX (#22677)

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Steering wheel would oscillate quickly when going straight, oscillation
is gone after this modification.
This commit is contained in:
Anthony Foerster
2022-01-04 01:07:49 -06:00
committed by GitHub
parent 3e5a273022
commit 1ca5e1c82b
1 changed files with 1 additions and 1 deletions
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selfdrive/car/honda/interface.py
+1 -1
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@@ -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: