Fix steering oscillations in 2019 RDX (#22677)

Steering wheel would oscillate quickly when going straight, oscillation is gone after this modification.
3 years ago · 1ca5e1c82b
parent 3e5a273022
commit 1ca5e1c82b
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -227,7 +227,7 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 11.95  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
      tire_stiffness_factor = 0.677

    elif candidate == CAR.ODYSSEY: