all crosstreks

budney · Mar 12, 2022 · 88bb507 · 88bb507
1 parent 45a9f51
commit 88bb507
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
@@ -41,9 +41,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 15
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
-      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kf = 0.00003333
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]]
 
     if candidate == CAR.IMPREZA_2020:
       ret.mass = 1480. + STD_CARGO_KG

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
@@ -6,6 +6,8 @@ class CarControllerParams:
   def __init__(self, CP):
     if CP.carFingerprint == CAR.IMPREZA_2020:
       self.STEER_MAX = 1439
+    elif CP.carFingerprint == CAR.IMPREZA:
+      self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047
     self.STEER_STEP = 2                # how often we update the steer cmd