From 5ae4d6e251cb475ceae494516a4bf5a7fc4e6612 Mon Sep 17 00:00:00 2001
From: cfranyota <46506059+cfranyota@users.noreply.github.com>
Date: Wed, 11 May 2022 12:22:48 -0700
Subject: [PATCH] Update interface.py

---
 selfdrive/car/honda/interface.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index f27ad048d417b8..0e39bd83162a14 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -99,7 +99,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
           ret.lateralTuning.torque.useSteeringAngle = True
           ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.friction = friction
         else:
           ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
@@ -124,7 +124,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
           ret.lateralTuning.torque.useSteeringAngle = True
           ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / 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
@@ -148,7 +148,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
         ret.lateralTuning.torque.useSteeringAngle = True
         ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-        ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
@@ -195,7 +195,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
           ret.lateralTuning.torque.useSteeringAngle = True
           ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.friction = friction
         else:
           ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
@@ -273,7 +273,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
         ret.lateralTuning.torque.useSteeringAngle = True
         ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-        ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]