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adding steering change from video and removing integer div and adding ki/kp changes 

old-commit-hash: 942655c9479e20f414b853a96a96f8ba529eb03c
This commit is contained in:
John Jones 2017-06-11 13:20:19 -04:00
parent 0944c786e1
commit e2b3b65db5
2 changed files with 2 additions and 2 deletions
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2
common/fingerprints.py
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@ -127,7 +127,7 @@ def fingerprint(logcan):
elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
ret.steerKp, ret.steerKi = 12.0, 1.0
elif candidate_cars[0] == "HONDA CR-V 2016 TOURING":
ret.steerKp, ret.steerKi = 12.0, 1.0
ret.steerKp, ret.steerKi = 14.0, 1.67
else:
raise ValueError("unsupported car %s" % candidate_cars[0])

2
selfdrive/car/honda/carcontroller.py
View File

@ -141,7 +141,7 @@ class CarController(object):
GAS_MAX = 1004
BRAKE_MAX = 1024/4
if CS.crv:
STEER_MAX = 0xFFF/2
STEER_MAX = 0x380 # CR-V only uses 12-bits and requires a lower value
else:
STEER_MAX = 0xF00
GAS_OFFSET = 328