start with mostly open loop

4 years ago · 86d3910f59
parent 59a00ce0b2
commit 86d3910f59
1 changed files with 9 additions and 5 deletions
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -65,6 +65,10 @@ class CarInterface(CarInterfaceBase):
    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward

+    if candidate in HONDA_BOSCH:
+      ret.longitudinalTuning.kpV = [0.1]
+      ret.longitudinalTuning.kiV = [0.0]
+    else:
      # default longitudinal tuning for all hondas
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]