Reduce steerKpV for Civics by 20% for Gernby FF steering

cfranyota · Dec 13, 2018 · 083741a · 083741a
1 parent 35e8b67
commit 083741a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -196,7 +196,7 @@ def get_params(candidate, fingerprint):
       tire_stiffness_factor = 1.
       # Civic at comma has modified steering FW, so different tuning for the Neo in that car
       is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
-      ret.steerKpV, ret.steerKiV = [[0.33], [0.10]] if is_fw_modified else [[0.8], [0.24]]
+      ret.steerKpV, ret.steerKiV = [[0.264], [0.10]] if is_fw_modified else [[0.8], [0.24]]
       if is_fw_modified:
         ret.steerKf = 0.00003
       ret.longitudinalKpBP = [0., 5., 35.]
@@ -211,7 +211,7 @@ def get_params(candidate, fingerprint):
       ret.centerToFront = centerToFront_civic
       ret.steerRatio = 14.63  # 10.93 is spec end-to-end
       tire_stiffness_factor = 1.
-      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
+      ret.steerKpV, ret.steerKiV = [[0.64], [0.24]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]