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Update Sonata stiffnes

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pull/1688/head
Willem Melching 5 years ago
parent b19098dbf8
commit 3061aea9f4
1 changed files with 1 additions and 0 deletions
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  1. 1
      selfdrive/car/hyundai/interface.py

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selfdrive/car/hyundai/interface.py
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@ -41,6 +41,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1513. + STD_CARGO_KG ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84 ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable 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.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.SONATA_2019: elif candidate == CAR.SONATA_2019:

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