Revert "Honda Pilot tuning / lane centering fixes (#408)" (#433)

This reverts commit fdbf1c5938.
7 years ago · b4dd562c43
parent 892e14aa92
commit b4dd562c43
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -294,8 +294,8 @@ class CarInterface(object):
      ret.wheelbase = 2.81
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 16.0         # as spec
-      tire_stiffness_factor = 0.82 
-      ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]
+      tire_stiffness_factor = 0.444 # not optimized yet
+      ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
      ret.longitudinalKpBP = [0., 5., 35.]
      ret.longitudinalKpV = [1.2, 0.8, 0.5]
      ret.longitudinalKiBP = [0., 35.]