Update interface.py

jeankalud · Dec 23, 2018 · 6197e72 · 6197e72
1 parent d9bbf56
commit 6197e72
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
@@ -117,7 +117,7 @@ def get_params(candidate, fingerprint):
       ret.centerToFront = centerToFront_models
       ret.steerRatio = 15.75
       # Kp and Ki for the lateral control for 0, 20, 40, 60 mph
-      ret.steerKpV, ret.steerKiV = [[1.20, 0.80, 0.60, 0.30], [0.16, 0.12, 0.08, 0.04]]
+      ret.steerKpV, ret.steerKiV = [[1.20, 0.80, 0.60, 0.20], [0.16, 0.12, 0.08, 0.06]]
       ret.steerKf = 0.00006 # Initial test value TODO: investigate FF steer control for Model S?
       ret.steerActuatorDelay = 0.09