From 88bb50774dd3be188165ce6fa433eff711d62874 Mon Sep 17 00:00:00 2001 From: ClockeNessMnstr Date: Sat, 12 Mar 2022 15:46:25 -0500 Subject: [PATCH] all crosstreks --- selfdrive/car/subaru/interface.py | 4 ++-- selfdrive/car/subaru/values.py | 2 ++ 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8c6d18864302ea..1d235365afd6d3 100644 --- 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 index ee114852913833..909393a9b031d1 100644 --- 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