From 936f7655f80d3a33435cb3beb3b640a56c6c548d Mon Sep 17 00:00:00 2001
From: kegman <8837066+kegman@users.noreply.github.com>
Date: Mon, 22 Oct 2018 13:23:55 -0400
Subject: [PATCH] Honda Pilot PID Tuning

---
 selfdrive/car/honda/interface.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index e6c4ed4de1ef93..6a4a007e0c2c79 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -308,8 +308,8 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.81
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0         # as spec
-      tire_stiffness_factor = 0.444 # not optimized yet
-      ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
+      tire_stiffness_factor = 0.82  # trying same as odyssey
+      ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]   #tweaking optimal result      - RESULT: Seems to fix slow / fast lane hug!
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]