From 8b155c23622c5d64d15eea1a3be96a53befa40ff Mon Sep 17 00:00:00 2001
From: cfranyota <46506059+cfranyota@users.noreply.github.com>
Date: Wed, 11 May 2022 12:20:41 -0700
Subject: [PATCH] Update interface.py

---
 selfdrive/car/honda/interface.py | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 3ef71fa35d3799..f27ad048d417b8 100755
--- 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]]