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Honda Odyssey 2018/2019 EX-L PID Tuning (#343)

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* Honda Odyssey 2019 EX-L PID Tuning.

* Update interface.py - Increased Kp for Odyssey

Increases response from 0.4, but oscillation still occurs in very sharp curves.
This commit is contained in:
tentious
2018-09-02 22:06:19 -05:00
committed by rbiasini
parent 54f3c2b373
commit 8970cc8d70
1 changed files with 3 additions and 3 deletions
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6
selfdrive/car/honda/interface.py
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@@ -277,12 +277,12 @@ class CarInterface(object):
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4354 * CV.LB_TO_KG + std_cargo
ret.mass = 4471 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
tire_stiffness_factor = 0.82
ret.steerKpV, ret.steerKiV = [[0.45], [0.135]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]