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Revert "Honda Pilot tuning / lane centering fixes (#408)" (#433)

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This reverts commit c6be3e2ed5.
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rbiasini
2018-11-13 14:36:29 -08:00
committed by GitHub
parent bb2af14dab
commit 4680447dd0
1 changed files with 2 additions and 2 deletions
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selfdrive/car/honda/interface.py
+2 -2
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@@ -294,8 +294,8 @@ class CarInterface(object):
ret.wheelbase = 2.81
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # as spec
tire_stiffness_factor = 0.82
ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]