From 3061aea9f45dac4cb51d60d2a926a812ecf9a5d0 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 12 Jun 2020 12:06:26 -0700 Subject: [PATCH] Update Sonata stiffnes --- selfdrive/car/hyundai/interface.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index c38f54923d..bde37e10bf 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -41,6 +41,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable + tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_2019: