From 62148a660efc7ed52c86d61ef47cb6710de2204c Mon Sep 17 00:00:00 2001 From: tentious Date: Sun, 2 Sep 2018 22:06:19 -0500 Subject: [PATCH] Honda Odyssey 2018/2019 EX-L PID Tuning (#343) * 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. --- selfdrive/car/honda/interface.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 91fbb078a2f202..6baa3e5aeff8c1 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -277,12 +277,12 @@ def get_params(candidate, fingerprint): 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.]