From 1ca5e1c82bd98a488dbffba32c653327a3d00b51 Mon Sep 17 00:00:00 2001 From: Anthony Foerster Date: Tue, 4 Jan 2022 01:07:49 -0600 Subject: [PATCH] Fix steering oscillations in 2019 RDX (#22677) Steering wheel would oscillate quickly when going straight, oscillation is gone after this modification. --- selfdrive/car/honda/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 6604f7d106..0724f01ecd 100755 --- 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: