reduce lateral feedforward

4 years ago · 225339ecd8
parent 0f7466990e
commit 225339ecd8
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -63,7 +63,7 @@ class CarInterface(CarInterfaceBase):
    tire_stiffness_factor = 1.0  # Let the params learner figure this out
    ret.lateralTuning.pid.kpBP = [0.]
    ret.lateralTuning.pid.kiBP = [0.]
-    ret.lateralTuning.pid.kf = 0.00006
+    ret.lateralTuning.pid.kf = 0.00004
    ret.lateralTuning.pid.kpV = [0.6]
    ret.lateralTuning.pid.kiV = [0.2]