all crosstreks

budney · Dec 22, 2022 · e1af79b · e1af79b
1 parent 766ee6c
commit e1af79b
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
@@ -49,6 +49,7 @@ 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]]