more conservative kF for Civics

cfranyota · Dec 13, 2018 · 61613c2 · 61613c2
1 parent 89e21f9
commit 61613c2
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -197,8 +197,9 @@ def get_params(candidate, fingerprint):
       # 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]]
-      if is_fw_modified:
-        ret.steerKf = 0.00003
+      #if is_fw_modified:
+      #  ret.steerKf = 0.00003
+      ret.steerKf = 0.00003
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [3.6, 2.4, 1.5]
       ret.longitudinalKiBP = [0., 35.]
@@ -212,6 +213,7 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 14.63  # 10.93 is spec end-to-end
       tire_stiffness_factor = 1.
       ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
+      ret.steerKf = 0.00003
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]