Civic kF 0.00003 - Pilot kF 0.000078

cfranyota · Dec 13, 2018 · c9434f3 · c9434f3
1 parent 61613c2
commit c9434f3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -185,7 +185,7 @@ def get_params(candidate, fingerprint):
 
     ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
 
-    ret.steerKf = 0.000078 # conservative feed-forward
+    ret.steerKf = 0.00006 # conservative feed-forward
 
     if candidate == CAR.CIVIC:
       stop_and_go = True
@@ -312,6 +312,7 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 16.0         # as spec
       tire_stiffness_factor = 0.82
       ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]
+      ret.steerKf = 0.000078
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]