Revert tuning "test"

This reverts commit 61f8a1e.
rafcabezas · Dec 28, 2020 · f6fbb77 · f6fbb77
1 parent 6ddffe7
commit f6fbb77
Showing 1 changed file with 3 additions and 13 deletions.
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
@@ -130,18 +130,17 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):
     tireStiffnessFront_models = 85100 #BB was 85400
     tireStiffnessRear_models = 90000
     # will create Kp and Ki for 0, 20, 40, 60 mph
-    ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
-    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 8.94, 17.88, 26.82 ], [0., 8.94, 17.88, 26.82]]
     if candidate == CAR.MODELS:
       stop_and_go = True
       ret.mass = mass_models
       ret.wheelbase = wheelbase_models
       ret.centerToFront = centerToFront_models
       ret.steerRatio = 11.5
       # Kp and Ki for the lateral control for 0, 20, 40, 60 mph
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.20, 0.80, 0.60, 0.30], [0.16, 0.12, 0.08, 0.04]]
       ret.lateralTuning.pid.kf = 0.00006 # Initial test value TODO: investigate FF steer control for Model S?
-      ret.steerActuatorDelay = 0.1
+      ret.steerActuatorDelay = 0.2
 
       #ret.steerReactance = 1.0
       #ret.steerInductance = 1.0
@@ -176,12 +175,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):
         ret.longitudinalTuning.kiV = [0.08,0.08,0.08, 0.08]
 
 
-      #test
-      ret.longitudinalTuning.kpBP = [0., 5., 22., 35.] # 0km/h, 18 km/h, 80, 128km/h
-      ret.longitudinalTuning.kiBP = [0., 5., 22., 35.]
-      ret.longitudinalTuning.kpV = [0.3, 0.3, 0.35, 0.37]
-      ret.longitudinalTuning.kiV = [0.07, 0.07, 0.093, 0.092]
-
     else:
       raise ValueError("unsupported car %s" % candidate)
 
@@ -230,9 +223,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):
     ret.radarOffCan = not CarSettings().get_value("useTeslaRadar")
     ret.radarTimeStep = 0.05 #20Hz
 
-    ret.communityFeature = True
-
-
     return ret
 
   # returns a car.CarState