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Updated default PIDs to those best for standard car #1146

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Updated default PIDs to those best for standard car #1146

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4 changes: 2 additions & 2 deletions donkeycar/templates/cfg_path_follow.py
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Original file line number Diff line number Diff line change
Expand Up @@ -644,9 +644,9 @@
PATH_SEARCH_LENGTH = None # number of points to search for closest point, None to search entire path
PATH_LOOK_AHEAD = 1 # number of points ahead of the closest point to include in cte track
PATH_LOOK_BEHIND = 1 # number of points behind the closest point to include in cte track
PID_P = -0.5 # proportional mult for PID path follower
PID_P = 0.35 # proportional mult for PID path follower
PID_I = 0.000 # integral mult for PID path follower
PID_D = -0.3 # differential mult for PID path follower
PID_D = 0.1 # differential mult for PID path follower
PID_THROTTLE = 0.50 # constant throttle value during path following
USE_CONSTANT_THROTTLE = False # whether or not to use the constant throttle or variable throttle captured during path recording
PID_D_DELTA = 0.25 # amount the inc/dec function will change the D value
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