Update interface.py

cfranyota · Jun 4, 2022 · 8b155c2 · 8b155c2
1 parent 1df4cf6
commit 8b155c2
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -97,9 +97,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
 
           ret.lateralTuning.init('torque')
           ret.lateralTuning.torque.useSteeringAngle = True
-          ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.friction = friction
         else:
           ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
@@ -122,9 +122,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
 
           ret.lateralTuning.init('torque')
           ret.lateralTuning.torque.useSteeringAngle = True
-          ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.05 / 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
@@ -146,9 +146,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
 
         ret.lateralTuning.init('torque')
         ret.lateralTuning.torque.useSteeringAngle = True
-        ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-        ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
@@ -193,9 +193,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
 
           ret.lateralTuning.init('torque')
           ret.lateralTuning.torque.useSteeringAngle = True
-          ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-          ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
           ret.lateralTuning.torque.friction = friction
         else:
           ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
@@ -271,9 +271,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
 
         ret.lateralTuning.init('torque')
         ret.lateralTuning.torque.useSteeringAngle = True
-        ret.lateralTuning.torque.kp = 1.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
-        ret.lateralTuning.torque.ki = 0.1 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.05 / MAX_LAT_ACCEL
         ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]