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Adjusting Kp, Ki values to reduce steer oscillation on CRV_5G

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Ted Slesinski
2018-06-20 21:31:07 -04:00
committed by Willem Melching
parent 1181a00fe9
commit 58744df1c5
1 changed files with 1 additions and 1 deletions
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2
selfdrive/car/honda/interface.py
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@@ -239,7 +239,7 @@ class CarInterface(object):
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 12.30
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]