{"action":"created","issue":{"url":"https://api.github.com/repos/commaai/openpilot/issues/408","repository_url":"https://api.github.com/repos/commaai/openpilot","labels_url":"https://api.github.com/repos/commaai/openpilot/issues/408/labels{/name}","comments_url":"https://api.github.com/repos/commaai/openpilot/issues/408/comments","events_url":"https://api.github.com/repos/commaai/openpilot/issues/408/events","html_url":"https://github.com/commaai/openpilot/pull/408","id":373725339,"node_id":"MDExOlB1bGxSZXF1ZXN0MjI1NTg4NTI3","number":408,"title":"Honda Pilot tuning / lane centering fixes","user":{"login":"kegman","id":8837066,"node_id":"MDQ6VXNlcjg4MzcwNjY=","avatar_url":"https://avatars3.githubusercontent.com/u/8837066?v=4","gravatar_id":"","url":"https://api.github.com/users/kegman","html_url":"https://github.com/kegman","followers_url":"https://api.github.com/users/kegman/followers","following_url":"https://api.github.com/users/kegman/following{/other_user}","gists_url":"https://api.github.com/users/kegman/gists{/gist_id}","starred_url":"https://api.github.com/users/kegman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kegman/subscriptions","organizations_url":"https://api.github.com/users/kegman/orgs","repos_url":"https://api.github.com/users/kegman/repos","events_url":"https://api.github.com/users/kegman/events{/privacy}","received_events_url":"https://api.github.com/users/kegman/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":10,"created_at":"2018-10-25T00:18:10Z","updated_at":"2018-11-02T11:36:35Z","closed_at":"2018-10-31T18:09:49Z","author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/commaai/openpilot/pulls/408","html_url":"https://github.com/commaai/openpilot/pull/408","diff_url":"https://github.com/commaai/openpilot/pull/408.diff","patch_url":"https://github.com/commaai/openpilot/pull/408.patch"},"body":"Tuned kP and kI and Tire Stiffness Factor settings.\r\nFixes lane centering issues in the following situations:\r\n1.  Hugging of left lane line during fast left curving roads\r\n2.  Hugging of right lane line during fast right curving roads\r\n3.  Left bias in fast lane on crowned roads (sloping down to the left)\r\n4.  Right bias in slow lane on crowned roads (sloping down to the right)\r\nWorks well with lane_width = 2.85 in pathplanner.py"},"comment":{"url":"https://api.github.com/repos/commaai/openpilot/issues/comments/435351551","html_url":"https://github.com/commaai/openpilot/pull/408#issuecomment-435351551","issue_url":"https://api.github.com/repos/commaai/openpilot/issues/408","id":435351551,"node_id":"MDEyOklzc3VlQ29tbWVudDQzNTM1MTU1MQ==","user":{"login":"jfrux","id":171077,"node_id":"MDQ6VXNlcjE3MTA3Nw==","avatar_url":"https://avatars2.githubusercontent.com/u/171077?v=4","gravatar_id":"","url":"https://api.github.com/users/jfrux","html_url":"https://github.com/jfrux","followers_url":"https://api.github.com/users/jfrux/followers","following_url":"https://api.github.com/users/jfrux/following{/other_user}","gists_url":"https://api.github.com/users/jfrux/gists{/gist_id}","starred_url":"https://api.github.com/users/jfrux/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jfrux/subscriptions","organizations_url":"https://api.github.com/users/jfrux/orgs","repos_url":"https://api.github.com/users/jfrux/repos","events_url":"https://api.github.com/users/jfrux/events{/privacy}","received_events_url":"https://api.github.com/users/jfrux/received_events","type":"User","site_admin":false},"created_at":"2018-11-02T11:36:35Z","updated_at":"2018-11-02T11:36:35Z","author_association":"CONTRIBUTOR","body":"I'm not sure I can get behind this change at this time...\r\nI don't see any improvements, I do see some places where it is actually worse in the most simplest of straights and basic turns I get way more alerts and random steering shakes on expressways.\r\n\r\nI'm not saying we don't need some adjustments but at this time I don't know if this one is it...\r\n\r\nAlthough it may improve in certain situations like backroads or state routes, I think I'd rather have it back the way it was and just wait it out for HD Maps.\r\n\r\nOr maybe we need some sort of config file system built soon that accepts a YAML file so people can make their tweaks without forking and modifying the code."}}
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