update long/lat pif

dkiiv · Jul 2, 2024 · e9ca852 · e9ca852
1 parent 69cc362
commit e9ca852
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -77,11 +77,11 @@ def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpi
         ret.steerActuatorDelay = 0.11
         ret.lateralTuning.pid.kpBP = [0.0]
         ret.lateralTuning.pid.kiBP = [0.0]
-        ret.lateralTuning.pid.kf = 0.00000075
-        ret.lateralTuning.pid.kpV = [0.008]
-        ret.lateralTuning.pid.kiV = [0.003]
+        ret.lateralTuning.pid.kf = 0.0000005
+        ret.lateralTuning.pid.kpV = [0.030]
+        ret.lateralTuning.pid.kiV = [0.015]
         ret.longitudinalTuning.kpV = [0.28]
-        ret.longitudinalTuning.kiV = [0.55]
+        ret.longitudinalTuning.kiV = [0.65]
         CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       else:
         ret.steerActuatorDelay = 0.2