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EPS mod - 17'-22' - Select Bosch civic's

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Co-Authored-By: cfranyota <46506059+cfranyota@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent aae7388feb
commit a8f0f66323
2 changed files with 16 additions and 2 deletions
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8
selfdrive/car/honda/interface.py
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@@ -117,8 +117,12 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
if eps_modified:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
ret.mass = 3279. * CV.LB_TO_KG