Honda Fit Tune (#20094)

This commit lowers the kp and ki values for lateral tuning. This fixes the wheel shake, greatly increases straight line performance, and produces more human like driving on long curves.
commaai · Feb 17, 2021 · 4c2efb4 · 4c2efb4
1 parent dfa8649
commit 4c2efb4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -286,7 +286,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.steerRatio = 13.06
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.75
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
       ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
       ret.longitudinalTuning.kiBP = [0., 35.]