Lurch prevention v11

sshane · Dec 17, 2018 · 3e45666 · 3e45666
1 parent fd453bf
commit 3e45666
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -362,10 +362,10 @@ def get_params(candidate, fingerprint):
 
     # prevent lurching when resuming
     if ret.enableGasInterceptor:
-      ret.gasMaxBP = [0., 7, 35]
+      ret.gasMaxBP = [0., 8, 35]
       ret.gasMaxV = [0.2, 0.6, 0.6]
       ret.longitudinalKpBP = [0., 5., 35.]
-      ret.longitudinalKpV = [0.8, 0.6, 0.5]
+      ret.longitudinalKpV = [1.2, 0.8, 0.5]
     else:
       ret.gasMaxBP = [0.]  # m/s
       ret.gasMaxV = [0.] # max gas allowed