From e8b14c7836d941ff09448670922488082c6dc7bd Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Sat, 9 Apr 2022 07:52:34 -0500
Subject: [PATCH] tuneo woono

---
 selfdrive/car/ocelot/interface.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/ocelot/interface.py b/selfdrive/car/ocelot/interface.py
index 81e6dfe7..6920b558 100644
--- a/selfdrive/car/ocelot/interface.py
+++ b/selfdrive/car/ocelot/interface.py
@@ -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.