From c077c9f9aea8752179115bec1d8b7f1c58c28bcf Mon Sep 17 00:00:00 2001 From: Samuel Coles Date: Tue, 16 Feb 2021 18:15:44 -0600 Subject: [PATCH] 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: 4c2efb4e7e658064d6399eb5be484b0d5fdb4431 --- selfdrive/car/honda/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index f1b71f0763..e2eb5439a8 100755 --- 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.]