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tuneo woono

endeavr
Comma Device 2022-04-09 07:52:34 -05:00
parent 12809b85e3
commit e8b14c7836
1 changed files with 2 additions and 2 deletions
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4
selfdrive/car/ocelot/interface.py
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@ -38,8 +38,8 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 21
tire_stiffness_factor = 0.444
ret.mass = 810 + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1], [0.05]]
ret.lateralTuning.pid.kf = 0.00001 # full torque for 20 deg at 80mph means 0.00007818594
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.03], [0.01]]
ret.lateralTuning.pid.kf = 0.000005 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.