From 0926c269af9ac821cbeda319de2dd34f851bebe5 Mon Sep 17 00:00:00 2001 From: haram-KONA <88036668+haram-KONA@users.noreply.github.com> Date: Thu, 12 May 2022 22:16:36 +0900 Subject: [PATCH] Hyundai: fix wheelbase and steeringratio for Kona, Kona HEV , Kona EV (#24464) * Update interface.py * Update interface.py * Update selfdrive/car/hyundai/interface.py Co-authored-by: Willem Melching --- selfdrive/car/hyundai/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 999910eff1..cd71ff980b 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -125,8 +125,8 @@ class CarInterface(CarInterfaceBase): elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): ret.lateralTuning.pid.kf = 0.00005 ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG - ret.wheelbase = 2.7 - ret.steerRatio = 13.73 * 1.15 # Spec + ret.wheelbase = 2.6 + ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]