From b4dd562c43a589a9fca5c16835060eddcd6f8350 Mon Sep 17 00:00:00 2001 From: rbiasini Date: Tue, 13 Nov 2018 14:36:29 -0800 Subject: [PATCH] Revert "Honda Pilot tuning / lane centering fixes (#408)" (#433) This reverts commit fdbf1c5938b70a9fa389cb6a117f123b6cbf5a2e. --- selfdrive/car/honda/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 3098f3768f5c3c..42eb041f3f9bb2 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -294,8 +294,8 @@ def get_params(candidate, fingerprint): ret.wheelbase = 2.81 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # as spec - tire_stiffness_factor = 0.82 - ret.steerKpV, ret.steerKiV = [[0.5], [0.22]] + tire_stiffness_factor = 0.444 # not optimized yet + ret.steerKpV, ret.steerKiV = [[0.38], [0.11]] ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5] ret.longitudinalKiBP = [0., 35.]