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Honda Fit Tune (#20094)

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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.
This commit is contained in:
Samuel Coles
2021-02-16 18:15:44 -06:00
committed by GitHub
parent dfa8649b6e
commit 4c2efb4e7e
1 changed files with 1 additions and 1 deletions
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selfdrive/car/honda/interface.py
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@@ -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.]