From 225339ecd878e5be971211f8d906bc7ea0e7b046 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 18 Nov 2021 19:04:33 -0500 Subject: [PATCH] reduce lateral feedforward --- 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 e1338f1c74..3ee4238b33 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -63,7 +63,7 @@ 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 = 0.00006 + ret.lateralTuning.pid.kf = 0.00004 ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2]