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Reduce Kp/Ki by 30% to eliminate steer oscillation (#1985)

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pull/2565/head
Ted Slesinski 5 years ago committed by GitHub
parent ae3b3189e5
commit 36391bf12f
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1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/car/honda/interface.py

2
selfdrive/car/honda/interface.py
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@ -252,7 +252,7 @@ class CarInterface(CarInterfaceBase):
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800 # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else: else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]

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