From 6b18eeec14b88a9c0d0b8788f9506e2aa8060efa Mon Sep 17 00:00:00 2001 From: Len Budney Date: Fri, 1 Apr 2022 10:37:35 -0400 Subject: [PATCH] Merged tuning for Crosstrek/Impreza at higher torque. Taken from michaelhonan's repository, commit ID 5efe79fc696abdc7cf271459c962095922bc56a1. --- selfdrive/car/subaru/interface.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index a08616bb19a3bc..fdf4e3bdca8c84 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -49,7 +49,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa ret.steerActuatorDelay = 0.18 # end-to-end angle controller ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00005 - ret.lateralTuning.pid.kf = 0.00003333 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]