Adjusting Kp, Ki values to reduce steer oscillation on CRV_5G

7 years ago · 58744df1c5
parent 1181a00fe9
commit 58744df1c5
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -239,7 +239,7 @@ class CarInterface(object):
      ret.wheelbase = 2.66
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 12.30
-      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]

      ret.longitudinalKpBP = [0., 5., 35.]
      ret.longitudinalKpV = [1.2, 0.8, 0.5]