fixed default values

jonnyapp1eseed · Mar 27, 2019 · 29b2d3c · 29b2d3c
1 parent a191bdd
commit 29b2d3c
Showing 1 changed file with 9 additions and 9 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -175,10 +175,10 @@ def get_params(candidate, fingerprint):
     rotationalInertia_civic = 2500
     tireStiffnessFront_civic = 192150
     tireStiffnessRear_civic = 202500
-    ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-    ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-    ret.steerReactTime = -0.1         # decrease total projected angle by 100 ms
-    ret.steerDampTime = 0.2           # dampen projected steer angle over 200ms (20 control cycles)
+    ret.steerMPCReactTime = 0.025      # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.1         # dampen desired angle over 100ms (2 mpc cycles)
+    ret.steerReactTime = -0.04         # decrease total projected angle by 40 ms
+    ret.steerDampTime = 0.05           # dampen projected steer angle over 50ms (1 control cycles)
 
     # Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
     # model optimization process. Certain Hondas have an extra steering sensor at the bottom
@@ -199,10 +199,10 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 14.63  # 10.93 is end-to-end spec
       tire_stiffness_factor = 1.
       ret.syncID = 330
-      ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-      ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-      ret.steerReactTime = -0.1         # decrease total projected angle by 100 ms
-      ret.steerDampTime = 0.2           # dampen projected steer angle over 200ms (20 control cycles)
+      ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+      ret.steerMPCDampTime = 0.1        # dampen desired angle over 100ms (2 mpc cycles)
+      ret.steerReactTime = 0.0          # decrease total projected angle by 0 ms
+      ret.steerDampTime = 0.06          # dampen projected steer angle over 200ms (20 control cycles)
       # 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 = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
@@ -378,7 +378,7 @@ def get_params(candidate, fingerprint):
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 0.3
+    ret.steerRateCost = 0.5
 
     return ret