From 7d7866ad487622f7f1c3b2ba1deeff031247ab24 Mon Sep 17 00:00:00 2001 From: Ted Slesinski Date: Wed, 20 Jun 2018 21:31:07 -0400 Subject: [PATCH] Adjusting Kp, Ki values to reduce steer oscillation on CRV_5G --- selfdrive/car/honda/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index a5bc06b056a5be..24b2f0ce67cc66 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -239,7 +239,7 @@ def get_params(candidate, fingerprint): ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 12.30 - ret.steerKpV, ret.steerKiV = [[0.8], [0.24]] + ret.steerKpV, ret.steerKiV = [[0.6], [0.18]] ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5]