From c9434f3f8e919b4443220cebbf9fedb50caa7b7c Mon Sep 17 00:00:00 2001 From: kegman Date: Thu, 6 Dec 2018 22:50:21 -0500 Subject: [PATCH] Civic kF 0.00003 - Pilot kF 0.000078 --- selfdrive/car/honda/interface.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 49fcbd2f708335..e51b7cfaf829a2 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -185,7 +185,7 @@ def get_params(candidate, fingerprint): ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - ret.steerKf = 0.000078 # conservative feed-forward + ret.steerKf = 0.00006 # conservative feed-forward if candidate == CAR.CIVIC: stop_and_go = True @@ -312,6 +312,7 @@ def get_params(candidate, fingerprint): ret.steerRatio = 16.0 # as spec tire_stiffness_factor = 0.82 ret.steerKpV, ret.steerKiV = [[0.5], [0.22]] + ret.steerKf = 0.000078 ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5] ret.longitudinalKiBP = [0., 35.]