Update interface.py

Aragon7777 · Aug 14, 2021 · 5df1467 · 5df1467
1 parent 215f387
commit 5df1467
Showing 1 changed file with 1 addition and 12 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -183,19 +183,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
         # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
         # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
         # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
-        #ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.init('lqr')
-
-        ret.lateralTuning.lqr.scale = 1000.0
-        ret.lateralTuning.lqr.ki = 0.0735
-
-        ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
-        ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
-        ret.lateralTuning.lqr.c = [1., 0.]
-        ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
-        ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
-        ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]