Fix steering oscillations in 2019 RDX (commaai#22677)

Steering wheel would oscillate quickly when going straight, oscillation is gone after this modification.
budney · Jan 4, 2022 · 1ca5e1c · 1ca5e1c
1 parent 3e5a273
commit 1ca5e1c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -227,7 +227,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       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: