Update interface.py

Co-Authored-By: Willem Melching <willem.melching@gmail.com>
cfranyota · Jun 4, 2022 · 1df4cf6 · 1df4cf6
1 parent 3deb406
commit 1df4cf6
Showing 1 changed file with 19 additions and 19 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -92,14 +92,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
       if eps_modified:
         if Params().get_bool('Torque'):
-          max_torque = 2.0
-          friction = 0.05
+          max_torque = 1.7
+          friction = 0.087112
 
           ret.lateralTuning.init('torque')
           ret.lateralTuning.torque.useSteeringAngle = True
-          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.friction = friction
         else:
           ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
@@ -118,13 +118,13 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       if eps_modified:
         if Params().get_bool('Torque'):
           max_torque = 2.0
-          friction = 0.05
+          friction = 0.04 #prickle said this is pretty good
 
           ret.lateralTuning.init('torque')
           ret.lateralTuning.torque.useSteeringAngle = True
-          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.friction = friction
         else:
           ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.36], [0.108]] #minus 10% from 0.4, 0.12
@@ -141,14 +141,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.steerRatio = 16.33  # 11.82 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       if Params().get_bool('Torque'):
-        max_torque = 2.0
-        friction = 0.05
+        max_torque = 1.7
+        friction = 0.087112
 
         ret.lateralTuning.init('torque')
         ret.lateralTuning.torque.useSteeringAngle = True
-        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
@@ -188,14 +188,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
         # Use LQR tune if param is set
         if Params().get_bool('Torque'):
-          max_torque = 2.0
-          friction = 0.05
+          max_torque = 1.7
+          friction = 0.087112
 
           ret.lateralTuning.init('torque')
           ret.lateralTuning.torque.useSteeringAngle = True
-          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.friction = friction
         else:
           ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
@@ -266,14 +266,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.steerRatio = 16.0 #11.95 is spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       if Params().get_bool('Torque'):
-        max_torque = 2.0
-        friction = 0.05
+        max_torque = 1.7
+        friction = 0.087112
 
         ret.lateralTuning.init('torque')
         ret.lateralTuning.torque.useSteeringAngle = True
-        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]