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Fix steering oscillations in 2019 RDX (#22677)

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Steering wheel would oscillate quickly when going straight, oscillation
is gone after this modification.
old-commit-hash: 1ca5e1c82b
commatwo_master
Anthony Foerster 4 years ago committed by GitHub
parent f6a9445de8
commit 8d2f0de871
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/car/honda/interface.py

2
selfdrive/car/honda/interface.py
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@ -227,7 +227,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
tire_stiffness_factor = 0.677 tire_stiffness_factor = 0.677
elif candidate == CAR.ODYSSEY: elif candidate == CAR.ODYSSEY:

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