From 5524dc87734e6037810c7607bab9662372b684b6 Mon Sep 17 00:00:00 2001
From: Vehicle Researcher <user@comma.ai>
Date: Tue, 15 Aug 2017 03:15:00 -0700
Subject: [PATCH] openpilot v0.3.6.1 release

---
 RELEASES.md                      | 4 ++++
 selfdrive/car/honda/interface.py | 8 ++++----
 selfdrive/common/version.h       | 2 +-
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index a0c91d0f47..ece35c9eab 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,7 @@
+Version 0.3.6.1 (2017-08-15)
+============================
+ * Mitigate low speed steering oscillations on some vehicles
+
 Version 0.3.6 (2017-08-08)
 ==========================
  * Fix alpha CR-V support
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 38357d0d8a..c020cc5d4c 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -90,7 +90,7 @@ class CarInterface(object):
       ret.l = l_civic
       ret.aF = aF_civic
       ret.sR = 13.0
-      ret.steerKp, ret.steerKi = 1.0, 0.24
+      ret.steerKp, ret.steerKi = 0.8, 0.24
     elif candidate == "ACURA ILX 2016 ACURAWATCH PLUS":
       ret.m = 3095./2.205 + std_cargo
       ret.l = 2.67
@@ -99,19 +99,19 @@ class CarInterface(object):
       # Acura at comma has modified steering FW, so different tuning for the Neo in that car
       # FIXME: using dongleId isn't great, better to identify the car than the Neo
       is_fw_modified = os.getenv("DONGLE_ID") == 'cb38263377b873ee'
-      ret.steerKp, ret.steerKi = [0.5, 0.12] if is_fw_modified else [1.0, 0.24]
+      ret.steerKp, ret.steerKi = [0.4, 0.12] if is_fw_modified else [0.8, 0.24]
     elif candidate == "HONDA ACCORD 2016 TOURING":
       ret.m = 3580./2.205 + std_cargo
       ret.l = 2.74
       ret.aF = ret.l * 0.38
       ret.sR = 15.3
-      ret.steerKp, ret.steerKi = 1.0, 0.24
+      ret.steerKp, ret.steerKi = 0.8, 0.24
     elif candidate == "HONDA CR-V 2016 TOURING":
       ret.m = 3572./2.205 + std_cargo
       ret.l = 2.62
       ret.aF = ret.l * 0.41
       ret.sR = 15.3
-      ret.steerKp, ret.steerKi = 0.5, 0.12
+      ret.steerKp, ret.steerKi = 0.8, 0.24
     else:
       raise ValueError("unsupported car %s" % candidate)
  
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index 29df39c7a3..4c2a881ae9 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define OPENPILOT_VERSION "0.3.6"
+#define OPENPILOT_VERSION "0.3.6.1"