From 0408ba734ac07bfb21c40c7fc74a310ff11753f0 Mon Sep 17 00:00:00 2001
From: cfranhonda <46506059+cfranhonda@users.noreply.github.com>
Date: Wed, 17 Jun 2020 20:17:34 -0700
Subject: [PATCH] omg

---
 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 e1c095c00b89bd..f3fc4d628633ba 100755
--- 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.]