diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index e1c095c00b89bd..f3fc4d628633ba 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -227,11 +227,11 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, ret.steerRatio = 18.61 # 15.3 is spec end-to-end if eps_modified: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1, 0.3], [0.33, 0.1]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8, 0.4], [0.24, 0.12]] ret.lateralTuning.pid.kf = 0.00004 # for less wobble else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward tire_stiffness_factor = 1. ret.longitudinalTuning.kpBP = [0., 5., 35.]