From fae12d7955749f8ae4c1eddcc21d547ab0ccc414 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 1 Dec 2021 21:56:52 -0500 Subject: [PATCH] revert tuning change in upstream focused branch --- selfdrive/car/volkswagen/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 3ef6376ae..cb0234860 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -59,7 +59,7 @@ 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 = 0.00004 + ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2]