diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 7ae6684eed..4664164907 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -67,7 +67,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate in [CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80]: + elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 @@ -75,6 +75,13 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.minSteerSpeed = 60 * CV.KPH_TO_MS + elif candidate == CAR.GENESIS_G80: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 2060. + STD_CARGO_KG + ret.wheelbase = 3.01 + ret.steerRatio = 16.5 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15