omg

mcomg · Jun 18, 2020 · 0408ba7 · 0408ba7
1 parent 584ff93
commit 0408ba7
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -227,11 +227,11 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.steerRatio = 18.61  # 15.3 is spec end-to-end
       if eps_modified:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1, 0.3], [0.33, 0.1]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8, 0.4], [0.24, 0.12]]
         ret.lateralTuning.pid.kf = 0.00004 # for less wobble
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
         ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
       tire_stiffness_factor = 1.
       ret.longitudinalTuning.kpBP = [0., 5., 35.]