From 29b2d3c61fb6bb5b26a83e850cd1dc08e979fa36 Mon Sep 17 00:00:00 2001 From: Greg Esmond Date: Wed, 27 Mar 2019 08:37:43 -0500 Subject: [PATCH] fixed default values --- selfdrive/car/honda/interface.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index d5d567a766d5ec..66c929e44c0ac0 100755 --- 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