From 02c130731c2c041cbe95cef8717a93a0b6d67b48 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 31 May 2020 13:37:55 -0700 Subject: [PATCH] Add alternate Accord tuning --- selfdrive/car/honda/interface.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 0edae57dd9..18df552032 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -200,12 +200,16 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.33 # 11.82 is spec end-to-end 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 = 0.8467 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] + if eps_modified: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + elif candidate == CAR.ACURA_ILX: stop_and_go = False ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG