Fixes global saturation change

old-commit-hash: 97eb55cc55

common/fingerprints.py

@@ -127,7 +127,7 @@ def fingerprint(logcan):
   elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
     ret.steerKp, ret.steerKi = 12.0, 1.0
   elif candidate_cars[0] == "HONDA CR-V 2016 TOURING":
-    ret.steerKp, ret.steerKi = 14.0, 1.67
+    ret.steerKp, ret.steerKi = 6.0, 0.5
   else:
     raise ValueError("unsupported car %s" % candidate_cars[0])
 

dbcs/honda_crv_touring_2016_can.dbc

@@ -87,7 +87,7 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] ""  NEO
 
 BO_ 404 STEERING_CONTROL: 4 NEO
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-2047.5|2047.5] ""  EPS
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] ""  EPS
  SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] ""  EPS
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
  SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS

selfdrive/car/honda/carcontroller.py

@@ -141,7 +141,7 @@ class CarController(object):
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
     if CS.crv:
-      STEER_MAX = 0x380  # CR-V only uses 12-bits and requires a lower value
+      STEER_MAX = 0x300  # CR-V only uses 12-bits and requires a lower value
     else:
       STEER_MAX = 0xF00
     GAS_OFFSET = 328
@@ -149,7 +149,6 @@ class CarController(object):
     # steer torque is converted back to CAN reference (positive when steering right)
     apply_gas = int(clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
     apply_brake = int(clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
-    # crvtodo: tweak steering to match precision of 0xE4 code.
     apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
 
     # no gas if you are hitting the brake or the user is

selfdrive/controls/lib/latcontrol.py

@@ -13,7 +13,7 @@ def calc_d_lookahead(v_ego):
   # howfar we look ahead is function of speed
   offset_lookahead = 1.
   coeff_lookahead = 4.4
-  # sqrt on speed is needed to keep, for a given curvature, the y_offset 
+  # sqrt on speed is needed to keep, for a given curvature, the y_offset
   # proportional to speed. Indeed, y_offset is prop to d_lookahead^2
   # 26m at 25m/s
   d_lookahead = offset_lookahead + math.sqrt(max(v_ego, 0)) * coeff_lookahead
@@ -31,7 +31,7 @@ def pid_lateral_control(v_ego, y_actual, y_des, Ui_steer, steer_max,
                         steer_override, sat_count, enabled, Kp, Ki, rate):
 
   sat_count_rate = 1./rate
-  sat_count_limit = 1.2       # after 0.8s of continuous saturation, an alert will be sent
+  sat_count_limit = 0.8      # after 0.8s of continuous saturation, an alert will be sent
 
   error_steer = y_des - y_actual
   Ui_unwind_speed = 0.3/rate   #.3 per second