From 083741a800188dd2686cd4ad63ef920bbb1104ef Mon Sep 17 00:00:00 2001 From: kegman Date: Wed, 12 Dec 2018 21:59:45 -0500 Subject: [PATCH] Reduce steerKpV for Civics by 20% for Gernby FF steering --- selfdrive/car/honda/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 818364941ef683..9b2cfbc5378943 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -196,7 +196,7 @@ def get_params(candidate, fingerprint): tire_stiffness_factor = 1. # Civic at comma has modified steering FW, so different tuning for the Neo in that car is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e'] - ret.steerKpV, ret.steerKiV = [[0.33], [0.10]] if is_fw_modified else [[0.8], [0.24]] + ret.steerKpV, ret.steerKiV = [[0.264], [0.10]] if is_fw_modified else [[0.8], [0.24]] if is_fw_modified: ret.steerKf = 0.00003 ret.longitudinalKpBP = [0., 5., 35.] @@ -211,7 +211,7 @@ def get_params(candidate, fingerprint): ret.centerToFront = centerToFront_civic ret.steerRatio = 14.63 # 10.93 is spec end-to-end tire_stiffness_factor = 1. - ret.steerKpV, ret.steerKiV = [[0.8], [0.24]] + ret.steerKpV, ret.steerKiV = [[0.64], [0.24]] ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5] ret.longitudinalKiBP = [0., 35.]