Revert "Honda Pilot tuning / lane centering fixes (commaai#408)" (com…

…maai#433) This reverts commit fdbf1c5.
klaus385 · Dec 25, 2018 · b0ed1ea · b0ed1ea
1 parent 646a544
commit b0ed1ea
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -294,8 +294,8 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.81
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0         # as spec
-      tire_stiffness_factor = 0.82 
-      ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]
+      tire_stiffness_factor = 0.444 # not optimized yet
+      ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]