From 4c2efb4e7e658064d6399eb5be484b0d5fdb4431 Mon Sep 17 00:00:00 2001 From: Samuel Coles Date: Tue, 16 Feb 2021 18:15:44 -0600 Subject: [PATCH] Honda Fit Tune (#20094) This commit lowers the kp and ki values for lateral tuning. This fixes the wheel shake, greatly increases straight line performance, and produces more human like driving on long curves. --- 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 f1b71f0763..e2eb5439a8 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -286,7 +286,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.75 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.]