From 012fa35096c3b5d808160e30a245d8379e7f804a Mon Sep 17 00:00:00 2001 From: Chris McCammon Date: Wed, 10 Feb 2021 16:35:18 -0800 Subject: [PATCH] Honda Odyssey tune (#20058) --- 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 97d4b25674..f1b71f0763 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -343,7 +343,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.35 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] @@ -357,7 +357,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.35 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.]