From 3e7a1c3a0004a9d22125fb9a4f8f5782be64b92b Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Mon, 27 May 2019 14:57:04 +0200 Subject: [PATCH] increase alca for Honda by 10% --- selfdrive/car/honda/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 1dcc30e3d9602e..fa4ccf4fdbcbfc 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -202,7 +202,7 @@ def __init__(self, CP): # ALCA PARAMS # max REAL delta angle for correction vs actuator self.CL_MAX_ANGLE_DELTA_BP = [10., 32., 55.] - self.CL_MAX_ANGLE_DELTA = [2.0 * 15.4 / steerRatio, 1. * 15.4 / steerRatio, 0.5 * 15.4 / steerRatio] + self.CL_MAX_ANGLE_DELTA = [2.2 * 15.4 / steerRatio, 1.1 * 15.4 / steerRatio, 0.5 * 15.4 / steerRatio] # adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother self.CL_ADJUST_FACTOR_BP = [10., 44.] self.CL_ADJUST_FACTOR = [16. , 8.]