[Lag] Increase Optima Lag (#32583)

increase lag in optima to 0.2
1 year ago · e8857a6713
parent 983063c3e6
commit e8857a6713
1 changed files with 3 additions and 0 deletions
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -75,6 +75,9 @@ class CarInterface(CarInterfaceBase):
    ret.steerLimitTimer = 0.4
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

+    if candidate == CAR.KIA_OPTIMA_G4_FL:
+      ret.steerActuatorDelay = 0.2
+
    # *** longitudinal control ***
    if candidate in CANFD_CAR:
      ret.longitudinalTuning.kpV = [0.1]