Honda Fit Tune (#20094)

This commit lowers the kp and ki values for lateral tuning. This fixes the wheel shake, greatly increases straight line performance, and produces more human like driving on long curves. old-commit-hash: 4c2efb4e7e
4 years ago · c077c9f9ae
parent 159ba626a8
commit c077c9f9ae
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -286,7 +286,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.06
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.75
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]