improve tuning

5 years ago · 5d2de147d2
parent fdbe64d8ae
commit 5d2de147d2
1 changed files with 2 additions and 0 deletions
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -48,6 +48,8 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.7
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 15.0], [0., 15.0]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.4], [0.02, 0.08]]

    elif candidate == CAR.MALIBU:
      # supports stop and go, but initial engage must be above 18mph (which include conservatism)